CN201970308U - Parallel connection controllable organization type drilling robot mechanism - Google Patents
Parallel connection controllable organization type drilling robot mechanism Download PDFInfo
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- CN201970308U CN201970308U CN2011200276070U CN201120027607U CN201970308U CN 201970308 U CN201970308 U CN 201970308U CN 2011200276070 U CN2011200276070 U CN 2011200276070U CN 201120027607 U CN201120027607 U CN 201120027607U CN 201970308 U CN201970308 U CN 201970308U
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- connecting rod
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- 238000005553 drilling Methods 0.000 title abstract 4
- 230000008520 organization Effects 0.000 title 1
- 238000003466 welding Methods 0.000 abstract description 3
- 238000005507 spraying Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 7
- 238000009825 accumulation Methods 0.000 description 3
- -1 boring rifle Substances 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
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Abstract
本实用新型涉及一种并联可控机构式钻孔机器人机构，包括回转平台、机架、动平台、带闭环子链的中心支链和可控调整支链。所述机架安装在回转平台上，回转平台可安装在各类行走装置或固定装置上，机架上安装有五台伺服电机。动平台背部有五个球副，动平台上的法兰盘用于安装钻枪、喷涂装置、焊枪等不同设备。本机构所有伺服电机均安装在机架上，机构运动惯量小、动力学性能好、拆装方便、扩展能力强，能满足高精度大载荷钻孔等多方面工作的要求。
The utility model relates to a parallel controllable mechanism type drilling robot mechanism, which comprises a rotary platform, a frame, a moving platform, a central branch chain with closed-loop sub-chains and a controllable adjustment branch chain. The frame is installed on the rotary platform, and the rotary platform can be installed on various walking devices or fixed devices, and five servo motors are installed on the frame. There are five ball pairs on the back of the moving platform, and the flanges on the moving platform are used to install different equipment such as drilling guns, spraying devices, and welding torches. All the servo motors of this mechanism are installed on the frame. The mechanism has small motion inertia, good dynamic performance, convenient disassembly and assembly, and strong expansion ability, which can meet the requirements of high-precision and large-load drilling and other aspects of work.
Description
Technical field
The utility model relates to the boring robot field, particularly a kind of controllable mechanism formula boring robot mechanism in parallel.
Background technology
The boring robot is the installations that automatically perform work, is a kind of machine of realizing various functions by self power and control ability.It can accept the wisdom of humanity, also can carry out according to the program of layout in advance.The boring robot can be for some dullness of oblige by doing, the frequent and long working that repeats in industrial production, or the operation high such as Precision Machining to required precision, be widely used in machining and produce on the operations such as assembling, and in the workplace that barrier is many, environmental condition is abominable such as colliery.Existing boring robot all belongs to articulated robot basically, has obtained extensive use because of it has big working space and moves comparatively flexibly.But this quasi-tradition fisher's formula serial machine robot mechanism is because of the restriction of himself structure, motor all needs to be installed in the junction, can cause that arm weight is big, problems such as poor rigidity, inertia are big, joint error accumulation, mechanism dynamic poor-performing, bore operation requirement such as be difficult to satisfy the high-speed, high precision location, multi-angle is adjustable.
Summary of the invention
The utility model purpose is to provide a kind of controllable mechanism formula boring robot mechanism in parallel, the motor that solves traditional fisher's formula series connection boring robot mechanism is installed in its hinged place, cause that arm weight is big, poor rigidity, inertia are big, joint error accumulation, mechanism dynamic poor-performing, load are lighter, difficult installation volume, the equipment that weight is bigger cannot say for sure to demonstrate,prove the high-speed, high precision location, problem such as multi-angle is adjustable bore operation requirement.
The utility model achieves the above object by the following technical programs: a kind of controllable mechanism formula in parallel boring robot mechanism comprises center side chain, revolving dial, moving platform and the frame of controlled adjustment side chain, band closed loop subchain.Its structure and connected mode are:
Wherein, described frame is installed on the revolving dial.
The first controlled adjustment side chain is made up of first driving lever, first connecting rod.First driving lever, one end is connected on the frame by first revolute pair, and the other end is connected with first connecting rod by first Hooke hinge.The first connecting rod other end is connected with moving platform by first spherical pair.Described first driving lever is by first driven by servomotor.
The second controlled adjustment side chain is made up of second driving lever, second connecting rod.Second driving lever, one end is connected on the frame by second revolute pair, and the other end is connected with second connecting rod by second Hooke hinge.The second connecting rod other end is connected with moving platform by second spherical pair.Described second driving lever is by second driven by servomotor.
The 3rd controlled adjustment side chain is made up of the 3rd driving lever, third connecting rod.The 3rd driving lever one end is connected on the frame by the 3rd revolute pair, and the other end is connected with third connecting rod by the 3rd Hooke hinge.The third connecting rod other end is connected with moving platform by the 3rd spherical pair.Described the 3rd driving lever is by the 3rd driven by servomotor.
The 4th controlled adjustment side chain is made up of the 4th driving lever, the 4th connecting rod.The 4th driving lever one end is connected on the frame by the 4th revolute pair, and the other end is connected with the 4th connecting rod by four-stringed bowed instrument gram hinge.The 4th connecting rod other end is connected with moving platform by the 4th spherical pair.Described the 4th driving lever is by the 4th driven by servomotor.
The center side chain of described band closed loop subchain is made up of the 5th driving lever, the 5th connecting rod, the 6th connecting rod, seven-link assembly, the 5th driving lever one end is connected with frame by the 5th revolute pair, the other end is connected with the 5th connecting rod by the 6th revolute pair, the 5th connecting rod other end is connected with the 6th connecting rod, seven-link assembly by the 8th revolute pair, the 6th connecting rod other end is connected with frame by the 7th revolute pair, and the seven-link assembly other end is connected with moving platform by the 5th spherical pair.Described the 5th driving lever is by the 5th driven by servomotor.
Described moving platform has ring flange, and moving platform is connected with the center side chain of the first controlled adjustment side chain, the second controlled adjustment side chain, the 3rd controlled adjustment side chain, the 4th controlled adjustment side chain, band closed loop subchain respectively by first spherical pair, second spherical pair, the 3rd spherical pair, the 4th spherical pair, the 5th spherical pair.Various end effectors such as boring rifle, spray equipment, welding gun can be installed on the described ring flange.
First servomotor, second servomotor, the 3rd servomotor, the 4th servomotor, the 5th servomotor are installed on the described frame, and each servomotor is arranged in parallel.Frame is installed on the revolving dial, realizes the flexible and changeable job requirement in working space of entire machine robot mechanism.
Outstanding advantage of the present utility model is:
1, adopt the parallel-connection structure form of band closed loop subchain, advantage such as it is big not only to have traditional parallel robot stiffness/weight ratio, and bearing capacity is strong, error accumulation is little, and also bigger than traditional parallel robot space, more flexible.
2, all servomotors are installed on the frame, and robot motion's inertia is little, and dynamic performance is good, can better satisfy the demand of the big load bore operation of all kinds of high accuracy.
Description of drawings
Fig. 1 is the structural representation of controllable mechanism formula boring robot mechanism in parallel described in the utility model.
Fig. 2 is the controllable mechanism formula boring robot mechanism first controlled adjustment branched structure schematic diagram in parallel described in the utility model.
Fig. 3 is the controllable mechanism formula boring robot mechanism second controlled adjustment branched structure schematic diagram in parallel described in the utility model.
Fig. 4 is controllable mechanism formula boring robot mechanism the 3rd a controlled adjustment branched structure schematic diagram in parallel described in the utility model.
Fig. 5 is controllable mechanism formula boring robot mechanism the 4th a controlled adjustment branched structure schematic diagram in parallel described in the utility model.
Fig. 6 is for being the utility model controllable mechanism formula boring in parallel robot mechanism center side chain structural scheme of mechanism.
Fig. 7 is that controllable mechanism formula boring robot mechanism servomotor in parallel described in the utility model is arranged schematic diagram.
Fig. 8 is the secondary schematic diagram of arranging of controllable mechanism formula boring robot mechanism moving platform ball in parallel described in the utility model.
Fig. 9 is a controllable mechanism formula boring robot mechanism moving platform flange plate structure schematic diagram in parallel described in the utility model.
Figure 10 is that controllable mechanism formula boring robot mechanism in parallel described in the utility model is installed in first kind of working state schematic representation on the platform.
Figure 11 is that controllable mechanism formula boring robot mechanism in parallel described in the utility model is installed in second kind of working state schematic representation on the platform.
Figure 12 is that controllable mechanism formula boring robot mechanism in parallel described in the utility model is installed in the third working state schematic representation on the platform.
Figure 13 is that controllable mechanism formula boring robot mechanism in parallel described in the utility model is installed in the 4th kind of working state schematic representation on the platform.
The specific embodiment
Below in conjunction with drawings and Examples the technical solution of the utility model is described further.
Contrast Fig. 1,7,8 and 9, a kind of controllable mechanism formula in parallel boring robot mechanism comprises moving platform 13, frame 2 and the revolving dial 1 of the center side chain of a band closed loop subchain, four controlled adjustment side chains, flanged dish 15.Described frame 2 is installed on the revolving dial 1, realizes the flexible and changeable job requirement of entire machine robot mechanism in working space.
Contrast Fig. 1,2, the described first controlled adjustment side chain is made up of first driving lever 6, first connecting rod 10.First driving lever, 6 one ends are connected on the frame 2 by first revolute pair 3, and the other end is connected with first connecting rod 10 by first Hooke hinge 7.First connecting rod 10 other ends are connected with moving platform 13 by first spherical pair 12.Described first driving lever 6 is driven by first servomotor 34.
Contrast Fig. 1,3, the described second controlled adjustment side chain is made up of second driving lever 23, second connecting rod 8.Second driving lever, 23 1 ends are connected on the frame 2 by second revolute pair 24, and the other end is connected with second connecting rod 8 by second Hooke hinge 22.Second connecting rod 8 other ends are connected with moving platform 13 by second spherical pair 11.Described second driving lever 23 is driven by second servomotor 35.
Contrast Fig. 1,4, the described the 3rd controlled adjustment side chain is made up of the 3rd driving lever 31, third connecting rod 20.The 3rd driving lever 31 1 ends are connected on the frame 2 by the 3rd revolute pair 33, and the other end is connected with third connecting rod 20 by the 3rd Hooke hinge 26.Third connecting rod 20 other ends are connected with moving platform 13 by the 3rd spherical pair 16.Described the 3rd driving lever 31 is driven by the 3rd servomotor 36.
Contrast Fig. 1,5, the described the 4th controlled adjustment side chain is made up of the 4th driving lever 28, the 4th connecting rod 18.The 4th driving lever 28 1 ends are connected on the frame 2 by the 4th revolute pair 30, and the other end is connected with the 4th connecting rod 18 by four-stringed bowed instrument gram hinge 25.The 4th connecting rod 18 other ends are connected with moving platform 13 by the 4th spherical pair 17.Described the 4th driving lever 28 is driven by the 4th servomotor 37.
Contrast Fig. 1,6, the center side chain of described band closed loop subchain is made up of the 5th driving lever 29, the 5th connecting rod 21, the 6th connecting rod 5, seven-link assembly 19, the 5th driving lever 29 1 ends are connected with frame 2 by the 5th revolute pair 32, the other end is connected with the 5th connecting rod 21 by the 6th revolute pair 27, the 5th connecting rod 21 other ends are connected with the 6th connecting rod 5, seven-link assembly 19 by the 8th revolute pair 9, the 6th connecting rod 5 other ends are connected with frame 2 by the 7th revolute pair 4, and seven-link assembly 19 other ends are connected with moving platform 13 by the 5th spherical pair 14.Described the 5th driving lever 29 is driven by the 5th servomotor 38.
Contrast Fig. 8,9, described moving platform 13 has ring flange 15, and moving platform 13 is connected with the center side chain of the first controlled adjustment side chain, the second controlled adjustment side chain, the 3rd controlled adjustment side chain, the 4th controlled adjustment side chain, band closed loop subchain respectively by first spherical pair 12, second spherical pair 11, the 3rd spherical pair 16, the 4th spherical pair 17, the 5th spherical pair 14.Various end effectors such as boring rifle, spray equipment, welding gun are installed on the described ring flange 15.
Contrast Fig. 7 is equipped with first servomotor 34, second servomotor 35, the 3rd servomotor 36, the 4th servomotor 37, the 5th servomotor 38 on the described frame 2, each servomotor is arranged in parallel.Frame 2 is installed on the revolving dial 1, realizes the flexible and changeable boring job requirement in working space of entire machine robot mechanism.
Contrast Figure 10, first servomotor 34, second servomotor 35, the 3rd servomotor 36, the 4th servomotor 37, the 5th servomotor 38 of described space controllable mechanism formula boring in parallel robot mechanism are united driving, and the rotation of cooperation revolving dial 1, finish dead ahead low level drill tasks.
Contrast Figure 11, first servomotor 34, second servomotor 35, the 3rd servomotor 36, the 4th servomotor 37, the 5th servomotor 38 of described space controllable mechanism formula boring in parallel robot mechanism are united driving, and the rotation of cooperation revolving dial 1, finish the high-order drill tasks in upper right side.
Contrast Figure 12, the attitude adjustment work of moving platform is finished in the cooperation of the first controlled adjustment side chain of described space controllable mechanism formula boring in parallel robot mechanism, the second controlled adjustment side chain, the 3rd controlled adjustment side chain, the 4th controlled adjustment side chain.
Contrast Figure 13, first servomotor 34, second servomotor 35, the 3rd servomotor 36, the 4th servomotor 37, the 5th servomotor 38 of described space controllable mechanism formula boring in parallel robot mechanism are united driving, and the rotation of cooperation revolving dial 1, finish dead ahead drill tasks at a distance.
Claims (1)
1. controllable mechanism formula in parallel boring robot mechanism, base is characterised in that this mechanism comprises center side chain, revolving dial, moving platform and the frame of controlled adjustment side chain, band closed loop subchain, its structure and connected mode are:
The first controlled adjustment side chain is made up of first driving lever, first connecting rod, first driving lever, one end is connected on the frame by first revolute pair, the other end is connected with first connecting rod by first Hooke hinge, the first connecting rod other end is connected with moving platform by first spherical pair, described first driving lever is by first driven by servomotor
The second controlled adjustment side chain is made up of second driving lever, second connecting rod, second driving lever, one end is connected on the frame by second revolute pair, the other end is connected with second connecting rod by second Hooke hinge, the second connecting rod other end is connected with moving platform by second spherical pair, described second driving lever is by second driven by servomotor
The 3rd controlled adjustment side chain is made up of the 3rd driving lever, third connecting rod, the 3rd driving lever one end is connected on the frame by the 3rd revolute pair, the other end is connected with third connecting rod by the 3rd Hooke hinge, the third connecting rod other end is connected with moving platform by the 3rd spherical pair, described the 3rd driving lever is by the 3rd driven by servomotor
The 4th controlled adjustment side chain is made up of the 4th driving lever, the 4th connecting rod, the 4th driving lever one end is connected on the frame by the 4th revolute pair, the other end is connected with the 4th connecting rod by four-stringed bowed instrument gram hinge, the 4th connecting rod other end is connected with moving platform by the 4th spherical pair, described the 4th driving lever is by the 4th driven by servomotor
The center side chain of described band closed loop subchain is by the 5th driving lever, the 5th connecting rod, the 6th connecting rod, seven-link assembly is formed, the 5th driving lever one end is connected with frame by the 5th revolute pair, the other end is connected with the 5th connecting rod by the 6th revolute pair, the 5th connecting rod other end is by the 8th revolute pair and the 6th connecting rod, seven-link assembly connects, the 6th connecting rod other end is connected with frame by the 7th revolute pair, the seven-link assembly other end is connected with moving platform by the 5th spherical pair, described the 5th driving lever is by the 5th driven by servomotor
Described moving platform has ring flange, moving platform is connected with the center side chain of the first controlled adjustment side chain, the second controlled adjustment side chain, the 3rd controlled adjustment side chain, the 4th controlled adjustment side chain, band closed loop subchain respectively by first spherical pair, second spherical pair, the 3rd spherical pair, the 4th spherical pair, the 5th spherical pair
First servomotor, second servomotor, the 3rd servomotor, the 4th servomotor, the 5th servomotor are installed on the described frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200276070U CN201970308U (en) | 2011-01-27 | 2011-01-27 | Parallel connection controllable organization type drilling robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200276070U CN201970308U (en) | 2011-01-27 | 2011-01-27 | Parallel connection controllable organization type drilling robot mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN201970308U true CN201970308U (en) | 2011-09-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011200276070U Expired - Lifetime CN201970308U (en) | 2011-01-27 | 2011-01-27 | Parallel connection controllable organization type drilling robot mechanism |
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| Country | Link |
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| CN (1) | CN201970308U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102085657A (en) * | 2011-01-27 | 2011-06-08 | 广西大学 | Parallel controllable drilling robot mechanism |
| CN106608541A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Connecting rod type variable freedom degree fodder stacking mechanical arm driven by servo motor |
| CN110216551A (en) * | 2019-06-26 | 2019-09-10 | 华中科技大学 | A kind of master-is passive to comply with polishing end |
| CN110425383A (en) * | 2019-07-16 | 2019-11-08 | 广东工业大学 | A kind of macro micro- compound platform of servo motor and Piezoelectric Ceramic |
-
2011
- 2011-01-27 CN CN2011200276070U patent/CN201970308U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102085657A (en) * | 2011-01-27 | 2011-06-08 | 广西大学 | Parallel controllable drilling robot mechanism |
| CN102085657B (en) * | 2011-01-27 | 2012-04-18 | 广西大学 | Parallel controllable drilling robot mechanism |
| CN106608541A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Connecting rod type variable freedom degree fodder stacking mechanical arm driven by servo motor |
| CN110216551A (en) * | 2019-06-26 | 2019-09-10 | 华中科技大学 | A kind of master-is passive to comply with polishing end |
| CN110425383A (en) * | 2019-07-16 | 2019-11-08 | 广东工业大学 | A kind of macro micro- compound platform of servo motor and Piezoelectric Ceramic |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20110914 Effective date of abandoning: 20120502 |