CN113941998A - Redundant two-degree-of-freedom parallel robot and working method thereof - Google Patents
Redundant two-degree-of-freedom parallel robot and working method thereof Download PDFInfo
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- CN113941998A CN113941998A CN202111412151.4A CN202111412151A CN113941998A CN 113941998 A CN113941998 A CN 113941998A CN 202111412151 A CN202111412151 A CN 202111412151A CN 113941998 A CN113941998 A CN 113941998A
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- 230000007246 mechanism Effects 0.000 claims abstract description 90
- 230000003287 optical effect Effects 0.000 claims description 16
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- 230000004888 barrier function Effects 0.000 description 3
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- 238000006073 displacement reaction Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
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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
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
- B25J9/0036—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-rotary-rotary
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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Abstract
The invention belongs to the technical field of parallel robots, and particularly relates to a redundant two-degree-of-freedom parallel robot and a working method thereof. The redundant two-degree-of-freedom parallel robot comprises: fixing a platform; the first moving mechanism and the second moving mechanism are slidably mounted on the fixed platform; the upper end of the first driving arm is hinged with the first moving mechanism; the upper end of the second driving arm is hinged with the second moving mechanism, and the lower end of the second driving arm is hinged with the lower end of the first driving arm; and the second driving arm is provided with a telescopic device for driving the second driving arm to stretch. The parallel structure is adopted, the grabbing detection depth is changed by changing the shape of the side length of the triangle, and the parallel structure has the advantages of stable structure and large load; the first and second driving arms are directly driven by the first and second moving mechanisms to control the plane movement of the tail end actuating mechanism, so that unnecessary driven arms are reduced, the bearing capacity and the movement precision are improved; the relative length difference of the two arms is changed by changing the other side length of the triangle.
Description
Technical Field
The invention belongs to the technical field of parallel robots, and particularly relates to a redundant two-degree-of-freedom parallel robot and a working method thereof.
Background
The parallel mechanism is superior to the traditional serial mechanism in the aspects of structural rigidity, load capacity, motion precision and the like. However, the geometric characteristics of the parallel mechanism are very deficient, for example, the working space is small, singular configurations exist in the working space, and the like, and some joints move to corresponding positions, so that the mechanism cannot meet the working requirements.
Disclosure of Invention
The invention aims to provide a redundant two-degree-of-freedom parallel robot and a working method thereof, so as to solve the technical problem.
In order to solve the above technical problem, the present invention provides a redundant two-degree-of-freedom parallel robot, comprising: fixing a platform; the first moving mechanism and the second moving mechanism are slidably mounted on the fixed platform; the upper end of the first driving arm is hinged with the first moving mechanism; the upper end of the second driving arm is hinged with the second moving mechanism, and the lower end of the second driving arm is hinged with the lower end of the first driving arm; and the second driving arm is provided with a telescopic device for driving the second driving arm to stretch.
Furthermore, the fixed platform comprises two optical axes and a lead screw which are arranged in parallel; the first moving mechanism and the second moving mechanism are both in sliding connection with the optical axis and are matched with the lead screw.
Further, the first moving mechanism and the second moving mechanism each include: the fixed seats are slidably arranged on the two optical axes; the driver is installed on one side of the fixed seat and matched with the lead screw.
Further, shaft sleeves are arranged in the mounting holes at the upper ends of the first driving arm and the second driving arm; the upper ends of the first driving arm and the second driving arm respectively penetrate through the shaft sleeves through the fixing pieces to be hinged with the corresponding fixing seats.
Further, the first active arm includes: the first upper swing arm, the first lower swing arm and the connecting rod; the first upper swing arm is hinged with a fixed seat of the first moving mechanism; the first lower swing arm is hinged with the lower end of the second driving arm; the two ends of the connecting rod are detachably connected with the first upper swing arm and the first lower swing arm respectively.
Further, the second active arm includes: the second upper swing arm, the second lower swing arm and the telescopic device are arranged on the base; the second upper swing arm is hinged with a fixed seat of the second moving mechanism; the second lower swing arm is hinged with the lower end of the first driving arm; and two ends of the telescopic device are respectively connected with the second upper swing arm and the second lower swing arm.
Further, the first moving mechanism and the second moving mechanism each further include: a limit switch base mounted on the driver; and a limit switch assembly mounted on the limit switch base.
Further, the limit switch assembly includes at least two limit switches.
Further, the fixing piece is an inner hexagon bolt.
Further, the driver is a through stepping motor; the telescopic device is an electric cylinder.
In another aspect, the present invention further provides a working method of a redundant two-degree-of-freedom parallel machine, including: the first moving mechanism and the second moving mechanism move in the same direction to drive the actuating mechanism to move; the first moving mechanism and the second moving mechanism move oppositely to drive the actuating mechanism to descend; the first moving mechanism and the second moving mechanism move reversely to drive the actuating mechanism to ascend; the telescopic device is used for driving the second driving arm to stretch.
The redundant two-degree-of-freedom parallel robot has the following beneficial effects:
(1) the parallel structure is adopted, the upper and lower grabbing detection depths are changed by changing the shape of the side length of the triangle, and the parallel structure has the advantages of stable structure and large load;
(2) the first and second driving arms are directly driven by the first and second moving mechanisms to control the plane movement of the tail end actuating mechanism, so that unnecessary driven arms are reduced, the bearing capacity and the movement precision are improved;
(3) the redundant mechanism is adopted, the second driving arm can stretch, and the tail end cannot reach the edge position of the fixed platform due to the limitation of the transverse moving positions of the two moving mechanisms and the structure of the triangle, so that a moving pair is added on the driving arm, and the relative length difference of the two arms is changed by changing the side length of the other side of the triangle; because the position reverse solution is not unique, the end actuating mechanism is not limited by space barriers and the movement displacement limitation of the motor so as not to reach a designated area, and the device has the advantages of working in a severe environment and larger working area.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a perspective view of a redundant two degree-of-freedom parallel robot of the present invention;
FIG. 2 is a schematic diagram of one of the movement mechanisms of the redundant two degree-of-freedom parallel robot of the present invention;
FIG. 3 is a schematic diagram of the first and second master arms of the redundant two degree-of-freedom parallel robot of the present invention;
fig. 4 is a schematic diagram of a fixed platform of the redundant two-degree-of-freedom parallel robot of the present invention.
In the figure:
the device comprises a fixed platform 1, a first optical axis 1-1, a second optical axis 1-2, a lead screw 1-3, a first stepping motor 2, a second stepping motor 3, a fixed seat 4, a bearing 5, a shaft sleeve 6, a fixed part 7, a first driving arm 8, a first upper swing arm 8-1, a first lower swing arm 8-2, a connecting rod 8-3, a second driving arm 9, a second upper swing arm 9-1, a second lower swing arm 9-2, a limit switch assembly 10, a limit switch base 11 and a telescopic device 12.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The degree of freedom of an industrial robot is low, so that the flexibility of the motion of the industrial robot is affected, and the number of inaccessible points in a working space is large, so that the defects that the limit position of a joint cannot be overcome, the space obstacle cannot be avoided, the singular pose cannot be avoided and the like exist. Therefore, a redundant two-degree-of-freedom robot is designed, wherein the robot is a triangular structure, and two sides of the robot are variable.
As shown in fig. 1, the present embodiment provides a redundant two-degree-of-freedom parallel robot, including: a fixed platform 1; a first moving mechanism and a second moving mechanism which are arranged on the fixed platform 1 in a sliding way; the upper end of the first driving arm 8 is hinged with the first moving mechanism; the upper end of the second driving arm 9 is hinged with the second moving mechanism, and the lower end of the second driving arm is hinged with the lower end of the first driving arm 8; the second driving arm 9 is provided with a telescopic device 12 for driving the second driving arm 9 to extend and retract.
In this embodiment, the first moving mechanism and the second moving mechanism may respectively drive the upper end of the first driving arm 8 and the upper end of the second driving arm 9 to move, so as to change the length of the upper edge of the triangle and adjust the height of the tail end of the driving arm; the second driving arm 9 is provided with the telescopic device 12, so that the length of the other side of the triangle can be changed, because the position reverse solution is not unique, the tail end actuating mechanism is not limited by space barriers and the movement displacement limitation of the motor and cannot reach a designated area, and the telescopic device has the advantages of working in a severe environment and larger working area.
In this embodiment, optionally, the fixed platform 1 may be fixed on equipment in different application occasions through a mounting bracket as required; as shown in fig. 4, as an alternative embodiment of the fixed platform 1, the fixed platform 1 includes two optical axes and a lead screw 1-3 arranged in parallel; the first moving mechanism and the second moving mechanism are both in sliding connection with the optical axis and are matched with the lead screws 1-3.
In the present embodiment, the two optical axes may be the first optical axis 1-1 and the second optical axis 1-2 in fig. 4, respectively.
As shown in fig. 1 and 2, in this embodiment, optionally, the first moving mechanism and the second moving mechanism each include: the fixed seat 4 is slidably arranged on the two optical axes; the driver is arranged on one side of the fixed seat 4 and is matched with the screw rod 1-3.
In this embodiment, the fixing base 4 can be sleeved on the optical axis through the bearing 5.
In this embodiment, the driver may be, but is not limited to, an 86-penetration type stepping motor; as shown in fig. 1, optionally, the drivers, i.e., the first stepping motor 2 and the second stepping motor 3, are respectively installed inside the fixing seats 4 of the first moving mechanism and the second moving mechanism, and the ends of the two stepping motors are aligned.
As shown in fig. 1 and 3, in this embodiment, optionally, shaft sleeves 6 are disposed in the upper end mounting holes of the first driving arm 8 and the second driving arm 9; the upper ends of the first driving arm 8 and the second driving arm 9 are respectively hinged with the corresponding fixed seat 4 through the shaft sleeve 6 by the fixing pieces 7; the fixing member 7 may be, but is not limited to, a hexagon socket head cap screw; the hinged part of the second active arm 9 and the lower end of the first active arm 8 can also be provided with a shaft sleeve 6 for installing an actuating mechanism.
As shown in fig. 3, as an alternative embodiment of the present embodiment, the first active arm 8 includes: a first upper swing arm 8-1, a first lower swing arm 8-2 and a connecting rod 8-3; the first upper swing arm 8-1 is hinged with the fixed seat 4 of the first moving mechanism; the first lower swing arm 8-2 is hinged with the lower end of the second driving arm 9; two ends of the connecting rod 8-3 are detachably connected with the first upper swing arm 8-1 and the first lower swing arm 8-2 respectively.
In the present embodiment, the length of the first active arm 8 can be adjusted as needed by adjusting the distance between the first upper swing arm 8-1 and the first lower swing arm 8-2.
As shown in fig. 3, as an alternative embodiment of the present embodiment, the second active arm 9 includes: a second upper swing arm 9-1, a second lower swing arm 9-2 and a telescopic device 12; the second upper swing arm 9-1 is hinged with the fixed seat 4 of the second moving mechanism; the second lower swing arm 9-2 is hinged with the lower end of the first driving arm 8; two ends of the telescopic device 12 are respectively connected with the second upper swing arm 9-1 and the second lower swing arm 9-2.
In the present embodiment, the telescopic device 12 may be, but is not limited to, a 24V straight cylinder dc electric cylinder; the length of the second driving arm 9 can be adjusted through an electric cylinder.
In this embodiment, as shown in fig. 1 and 2, each of the first moving mechanism and the second moving mechanism further includes: a limit switch base 11 mounted on the driver; and a limit switch assembly 10 mounted on a limit switch base 11.
In this embodiment, the limit switch assembly 10 may include at least two limit switches; one of them is used for preventing collision between the fixed seats 4, and the other can prevent the fixed seats 4 from colliding with the tail end of the fixed platform 1.
In this embodiment, the fixing member 7 is an inner hexagon bolt.
On the basis of the foregoing embodiment, this embodiment further provides a working method of a redundant two-degree-of-freedom parallel machine, including: the first moving mechanism and the second moving mechanism move in the same direction to drive the actuating mechanism to move; the first moving mechanism and the second moving mechanism move oppositely to drive the actuating mechanism to descend; the first moving mechanism and the second moving mechanism move reversely to drive the actuating mechanism to ascend; the telescopic device is used for driving the second driving arm to stretch.
In an alternative application scenario: in an initial state, a worker needs to check whether the first driving arm 8 and the second driving arm 9, the first stepping motor 2 and the second stepping motor 3 interfere with other equipment or not, and if the equipment is safe, the worker can be electrified to perform the next operation; controlling the first stepping motor 2 and the second stepping motor 3 to rotate reversely, and moving reversely on the optical axis under the action of the screw rods 1-3, so that the tail ends of the first driving arm 8 and the second driving arm 9 are lifted, and other obstacles are avoided through a narrow space; when the position is close to an object, operating the first stepping motor 2 and the second stepping motor 3 to be close to each other, putting down the first driving arm 8 and the second driving arm 9 to reach a proper height, and horizontally moving through synchronously adjusting (the speed direction is the same) the first stepping motor 2 and the second stepping motor 3, wherein an actuating mechanism at the tail end of the driving arm is close to the target object, and if the stepping motors cannot reach the ideal position due to upper-end obstacle, controlling the telescopic length of the telescopic device 12 to operate the actuating mechanism to move to the target position; if the position is limited, the obstacle is avoided by controlling the first stepping motor 2 and the second stepping motor 3 to move left and right and controlling the telescopic device 12 to telescopically adjust the length of the second driving arm 9, and then the operation is repeated. The limit switch assembly 10 prevents the motors from colliding with each other, prevents the motors from colliding with the two ends of the fixed platform in the moving process, and greatly improves the safety of the equipment and prolongs the service life of the equipment. According to the requirements of the use environment, the connection length of the first upper swing arm 8-1 and the first lower swing arm 8-2 of the first active arm 8 can be adjusted to adjust the length of the first active arm 8 according to different requirements on the grabbing height and the grabbing distance.
In this embodiment, but not limited to, a PLC may be used as a control module, and electrically connected to the driver, the limit switch assembly 10, and the telescopic device 12 for control; the control program is not modified in this embodiment, and those skilled in the art can implement the control program by using the existing program.
In summary, the first moving mechanism and the second moving mechanism of the redundant two-degree-of-freedom parallel robot can respectively drive the upper end of the first driving arm 8 and the upper end of the second driving arm 9 to move so as to change the length of the upper edge of the triangle and adjust the height of the tail end of the driving arm; the second driving arm 9 is provided with the telescopic device 12, so that the length of the other side of the triangle can be changed, because the position reverse solution is not unique, the tail end actuating mechanism is not limited by space barriers and the movement displacement limitation of the motor and cannot reach a designated area, and the telescopic device has the advantages of working in a severe environment and larger working area.
The components selected for use in the present application (components not illustrated for specific structures) are all common standard components or components known to those skilled in the art, and the structure and principle thereof can be known to those skilled in the art through technical manuals or through routine experimentation.
In the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. A redundant two-degree-of-freedom parallel robot, comprising:
a fixed platform (1);
the first moving mechanism and the second moving mechanism are slidably mounted on the fixed platform (1);
the upper end of the first driving arm (8) is hinged with the first moving mechanism;
the upper end of the second driving arm (9) is hinged with the second moving mechanism, and the lower end of the second driving arm is hinged with the lower end of the first driving arm (8); wherein
And the second driving arm (9) is provided with a telescopic device (12) for driving the second driving arm (9) to stretch.
2. The redundant two-degree-of-freedom parallel robot according to claim 1,
the fixed platform (1) comprises two optical axes and a screw rod (1-3) which are arranged in parallel;
the first moving mechanism and the second moving mechanism are both in sliding connection with the optical axis and are matched with the lead screws (1-3).
3. The redundant two-degree-of-freedom parallel robot according to claim 2,
the first moving mechanism and the second moving mechanism each include:
the fixed seats (4) are slidably arranged on the two optical axes;
the driver is arranged on one side of the fixed seat (4) and is matched with the screw rod (1-3).
4. The redundant two-degree-of-freedom parallel robot according to claim 3,
shaft sleeves (6) are arranged in the mounting holes at the upper ends of the first driving arm (8) and the second driving arm (9);
the upper ends of the first driving arm (8) and the second driving arm (9) penetrate through the shaft sleeve (6) through the fixing pieces (7) respectively to be hinged with the corresponding fixing seats (4).
5. The redundant two-degree-of-freedom parallel robot according to claim 3,
the first active arm (8) comprises: a first upper swing arm (8-1), a first lower swing arm (8-2) and a connecting rod (8-3);
the first upper swing arm (8-1) is hinged with a fixed seat (4) of the first moving mechanism;
the first lower swing arm (8-2) is hinged with the lower end of the second driving arm (9);
two ends of the connecting rod (8-3) are respectively detachably connected with the first upper swing arm (8-1) and the first lower swing arm (8-2).
6. The redundant two-degree-of-freedom parallel robot according to claim 1,
the second active arm (9) comprises: a second upper swing arm (9-1), a second lower swing arm (9-2) and a telescopic device (12);
the second upper swing arm (9-1) is hinged with a fixed seat (4) of the second moving mechanism;
the second lower swing arm (9-2) is hinged with the lower end of the first driving arm (8);
two ends of the telescopic device (12) are respectively connected with the second upper swing arm (9-1) and the second lower swing arm (9-2).
7. The redundant two-degree-of-freedom parallel robot according to claim 3,
the first moving mechanism and the second moving mechanism each further include:
a limit switch base (11) mounted on the driver; and
and a limit switch assembly (10) mounted on a limit switch base (11).
8. The redundant two-degree-of-freedom parallel robot according to claim 7,
the limit switch assembly (10) includes at least two limit switches.
9. The redundant two-degree-of-freedom parallel robot according to claim 3,
the driver is a through stepping motor;
the telescopic device (12) is an electric cylinder.
10. A method of operating a redundant two degree-of-freedom parallel machine according to any of claims 1 to 9, comprising:
the first moving mechanism and the second moving mechanism move in the same direction to drive the actuating mechanism to move;
the first moving mechanism and the second moving mechanism move oppositely to drive the actuating mechanism to descend;
the first moving mechanism and the second moving mechanism move reversely to drive the actuating mechanism to ascend;
the telescopic device is used for driving the second driving arm to stretch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111412151.4A CN113941998A (en) | 2021-11-25 | 2021-11-25 | Redundant two-degree-of-freedom parallel robot and working method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111412151.4A CN113941998A (en) | 2021-11-25 | 2021-11-25 | Redundant two-degree-of-freedom parallel robot and working method thereof |
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| CN113941998A true CN113941998A (en) | 2022-01-18 |
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| CN202111412151.4A Pending CN113941998A (en) | 2021-11-25 | 2021-11-25 | Redundant two-degree-of-freedom parallel robot and working method thereof |
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| CN110154002A (en) * | 2019-06-17 | 2019-08-23 | 无锡超通智能制造技术研究院有限公司 | A kind of planar two-DOF mechanism |
| WO2020125043A1 (en) * | 2018-12-21 | 2020-06-25 | 清华大学 | Two-degree-of-freedom parallel robot with spatial branched chain structure |
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| US5214749A (en) * | 1991-06-12 | 1993-05-25 | Massachusetts Institute Of Technology | Dynamic control of a robot with its center of mass decoupled from an end effector by a redundant linkage |
| US6339969B1 (en) * | 1999-06-04 | 2002-01-22 | Septimiu E. Salcudean | Three-degree-of-freedom parallel planar manipulator |
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