CN104669252A - Two-degree-of-freedom positioning mechanism and two-degree-of-freedom hybrid manipulator thereof - Google Patents
Two-degree-of-freedom positioning mechanism and two-degree-of-freedom hybrid manipulator thereof Download PDFInfo
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Abstract
本发明公开了一种两自由度混联机械手，包括基座和末端执行器，所述基座与末端执行器之间设有并联部分和串联部分，所述并联部分包括旋转框、第一滑块、第二滑块、第一连杆和第二连杆，所述串联部分包括三个平行四边形机构；通过并联部分的驱动作用和串联部分的比例放大和平动，从而将第一滑块和第二滑块相对于旋转框的滑动最终转化为末端执行器的两个平动自由度。本发明机械手采用串并混联拓扑结构，其结构紧凑，减小了运动部件质量，增大了工作空间，提高了运动精度，易实现高速运动，同时移动副的驱动方式可使得该机构的负载能力大幅提升。
The invention discloses a two-degree-of-freedom hybrid manipulator, comprising a base and an end effector, a parallel part and a series part are arranged between the base and the end effector, the parallel part includes a rotating frame, a first slide block, the second slider, the first link and the second link, the series part includes three parallelogram mechanisms; through the driving action of the parallel part and the proportional amplification and translation of the series part, the first slider and the The sliding of the second slider relative to the rotating frame is finally converted into two translational degrees of freedom of the end effector. The manipulator of the present invention adopts a series-parallel hybrid topological structure, which has a compact structure, reduces the mass of the moving parts, increases the working space, improves the motion accuracy, and is easy to realize high-speed motion. At the same time, the driving mode of the moving pair can make the load of the mechanism The ability has been greatly improved.
Description
技术领域technical field
本发明涉及一种机械手，特别是涉及一种机械手的具有两自由度的混联机构。The invention relates to a manipulator, in particular to a hybrid mechanism with two degrees of freedom of the manipulator.
背景技术Background technique
目前用于机器人空间定位的两自由度机构的主要有两类：串联关节式和平面并联式。串联关节式机构的惯性较大，运动速度低且定位精度较差，平面并联式虽能实现较高的运动速度，但工作范围和作业空间严重受限。At present, there are two main types of two-degree-of-freedom mechanisms used for robot spatial positioning: series joints and planar parallels. The serial articulated mechanism has large inertia, low motion speed and poor positioning accuracy. Although the plane parallel type can achieve high motion speed, the working range and working space are severely limited.
国际上有少数可应用于物料搬运的平面两自由度并联机构。专利文献US 7090458 B2和ZL 01154160.2公开了一种可实现两自由度平动的并联机构，包括机架、动平台和两对支链；在机架上安装两个伺服电机，动平台通过两个分支与机架连接，形成并联闭环结构；两个支链各含有两个平行四边形机构，分别作为驱动杆组和从动杆组，各运动件之间完全采用转动铰链连接；采用平行四边形支链结构实现动平台的二维平动。上述机构的局限性在于：机构每条支链各含两组平行四边形机构，结构复杂；主动关节为转动驱动，机构的承载能力差，工作空间和运动范围小。There are a few planar two-degree-of-freedom parallel mechanisms that can be applied to material handling in the world. Patent documents US 7090458 B2 and ZL 01154160.2 disclose a parallel mechanism that can realize two-degree-of-freedom translation, including a frame, a moving platform and two pairs of branch chains; two servo motors are installed on the frame, and the moving platform passes through two The branches are connected with the frame to form a parallel closed-loop structure; each of the two branch chains contains two parallelogram mechanisms, which are respectively used as a driving rod group and a driven rod group, and the moving parts are completely connected by rotating hinges; parallelogram branch chains are used The structure realizes the two-dimensional translation of the moving platform. The limitations of the above-mentioned mechanism are: each branch chain of the mechanism contains two sets of parallelogram mechanisms, and the structure is complex; the active joints are driven by rotation, the mechanism has poor bearing capacity, and the working space and range of motion are small.
发明内容Contents of the invention
本发明为解决公知技术中存在的技术问题，提供一种两自由度定位机构及其多自由度混联机械手，其中的两自由度混联机械手的串联部分可以将并联部分提供的滑动最终转化为末端执行器的两个平动自由度。本发明机械手采用串并混联拓扑结构，其结构紧凑，减小了运动部件质量，增大了工作空间，提高了运动精度，易实现高速运动，同时移动副的驱动方式可使得该机构的负载能力大幅提升。In order to solve the technical problems in the known technology, the present invention provides a two-degree-of-freedom positioning mechanism and its multi-degree-of-freedom hybrid manipulator, wherein the series part of the two-degree-of-freedom hybrid manipulator can finally convert the sliding provided by the parallel part into Two translational degrees of freedom of the end effector. The manipulator of the present invention adopts a series-parallel hybrid topological structure, which has a compact structure, reduces the mass of the moving parts, increases the working space, improves the motion accuracy, and is easy to realize high-speed motion. At the same time, the driving mode of the moving pair can make the load of the mechanism The ability has been greatly improved.
为了解决上述技术问题,本发明提出的一种两自由度定位机构，包括基座，所述基座连接有旋转框，所述旋转框分别通过滑动副与第一滑块和第二滑块连接，所述第一滑块通过转动副与第一连杆的一端连接，所述第二滑块通过转动副与第二连杆的一端连接，所述第一连杆和第二连杆的另一端通过转动副A与第三连杆的一端连接；所述第三连杆上的一点及所述所述第三连杆的另一端分别与第四连杆和第五连杆的一端转动连接；所述第四连杆的另一端与所述旋转框和第六连杆的一端通过转动副B连接；所述第六连杆的另一端和第五连杆上的一点通过转动副C连接；连接后的所述第三连杆、第五连杆、第六连杆和第四连杆构成了一平行四边形机构。In order to solve the above technical problems, the present invention proposes a two-degree-of-freedom positioning mechanism, which includes a base connected to a rotating frame, and the rotating frame is respectively connected to the first slider and the second slider through a sliding pair , the first slider is connected to one end of the first connecting rod through a rotating pair, the second sliding block is connected to one end of the second connecting rod through a rotating pair, and the other end of the first connecting rod and the second connecting rod One end is connected to one end of the third connecting rod through the rotating joint A; one point on the third connecting rod and the other end of the third connecting rod are respectively connected to the fourth connecting rod and one end of the fifth connecting rod in rotation ; The other end of the fourth connecting rod is connected with the rotating frame and one end of the sixth connecting rod through a rotating pair B; the other end of the sixth connecting rod is connected with a point on the fifth connecting rod through a rotating pair C ; The connected third connecting rod, fifth connecting rod, sixth connecting rod and fourth connecting rod form a parallelogram mechanism.
本发明提出的一种六自由度混联机械手，在上述两自由度定位机构的结构基础上，所述旋转框与所述基座相对转动，所述第五连杆的另一端设有三自由度手腕。A six-degree-of-freedom hybrid manipulator proposed by the present invention, on the basis of the structure of the above-mentioned two-degree-of-freedom positioning mechanism, the rotating frame and the base rotate relatively, and the other end of the fifth connecting rod is provided with a three-degree wrist.
本发明提出的一种两自由度混联机械手，包括基座和末端执行器，所述基座连接有旋转框，所述旋转框分别通过滑动副与第一滑块和第二滑块连接，所述第一滑块通过转动副与第一连杆的一端连接，所述第二滑块通过转动副与第二连杆的一端连接，所述第一连杆和第二连杆的另一端通过转动副A与第三连杆的一端连接；所述第三连杆上的一点及所述所述第三连杆的另一端分别与第四连杆和第五连杆的一端转动连接；所述第四连杆的另一端与所述旋转框和第六连杆的一端通过转动副B连接；所述第六连杆的另一端、第五连杆上的一点及一连接三角板通过转动副C连接；连接后的所述第三连杆、第五连杆、第六连杆和第四连杆构成了第一平行四边形机构；所述第六连杆的另一端与第七连杆的一端转动连接；所述第七连杆的另一端与所述连接三角板转动连接；连接后的所述旋转框、第六连杆、连接三角板和第七连杆构成了第二平行四边形机构；所述连接三角板顺次转动连接有第八连杆和末端三角板，所述第五连杆的另一端与所述末端三角板转动连接，连接后的所述第五连杆、连接三角板、末端三角板和第八连杆构成了第三平行四边形机构；所述末端执行器与所述末端三角板固接；所述旋转框、第一滑块、第二滑块、第一连杆和第二连杆构成了并联部分，所述第一平行四边形机构、第二平行四边形机构和第三平行四边形机构构成了串联部分；通过并联部分的驱动作用和串联部分的比例放大和平动，从而将第一滑块和第二滑块相对于旋转框的滑动最终转化为末端执行器的两个平动自由度。A two-degree-of-freedom hybrid manipulator proposed by the present invention includes a base and an end effector, the base is connected with a rotating frame, and the rotating frame is respectively connected with the first slider and the second slider through a sliding pair, The first slider is connected to one end of the first connecting rod through a rotating pair, the second sliding block is connected to one end of the second connecting rod through a rotating pair, and the other ends of the first connecting rod and the second connecting rod Connected to one end of the third connecting rod through the rotating pair A; one point on the third connecting rod and the other end of the third connecting rod are respectively rotationally connected to one end of the fourth connecting rod and the fifth connecting rod; The other end of the fourth connecting rod is connected with the rotating frame and one end of the sixth connecting rod through a rotating pair B; the other end of the sixth connecting rod, a point on the fifth connecting rod and a connecting triangle are rotated The secondary C is connected; the connected third connecting rod, fifth connecting rod, sixth connecting rod and fourth connecting rod form a first parallelogram mechanism; the other end of the sixth connecting rod is connected with the seventh connecting rod One end of the connecting rod is rotationally connected; the other end of the seventh connecting rod is rotationally connected with the connecting triangular plate; the connected rotating frame, the sixth connecting rod, the connecting triangular plate and the seventh connecting rod constitute a second parallelogram mechanism; The connecting triangle is sequentially connected with the eighth connecting rod and the end triangle, the other end of the fifth connecting rod is connected with the end triangle, and the connected fifth connecting rod, connecting triangle, end triangle and The eighth connecting rod constitutes the third parallelogram mechanism; the end effector is fixedly connected to the end triangular plate; the rotating frame, the first slider, the second slider, the first connecting rod and the second connecting rod constitute The parallel part is formed, and the first parallelogram mechanism, the second parallelogram mechanism and the third parallelogram mechanism constitute the series part; through the driving action of the parallel part and the proportional amplification and translation of the series part, the first slider and the The sliding of the second slider relative to the rotating frame is finally converted into two translational degrees of freedom of the end effector.
本发明提出的一种四自由度混联机械手，在上述两自由度混联机械手的基础上，所述旋转框与所述基座相对转动，所述末端执行器自转。A four-degree-of-freedom hybrid manipulator proposed by the present invention is based on the above-mentioned two-degree-of-freedom hybrid manipulator, the rotating frame and the base rotate relatively, and the end effector rotates on its own.
与现有技术相比，本发明的有益效果是：Compared with prior art, the beneficial effect of the present invention is:
本发明提出的两自由度定位机构及其多自由度混联机械手，采用了混联拓扑结构，故其结构紧凑，减小了运动部件质量，增大了工作空间，提高了运动精度，易实现高速运动，同时移动副的驱动方式可使得该机构的负载能力大幅提升。The two-degree-of-freedom positioning mechanism and the multi-degree-of-freedom hybrid manipulator proposed by the present invention adopt a hybrid topological structure, so its structure is compact, the mass of moving parts is reduced, the working space is increased, and the motion accuracy is improved, which is easy to realize The high-speed movement and the driving mode of the moving pair can greatly increase the load capacity of the mechanism.
附图说明Description of drawings
图1为本发明的整体机构示意图；Fig. 1 is the overall mechanism schematic diagram of the present invention;
附图标记：1-基座，2-旋转框，3a第一滑块，3b-第二滑块，4-第一连杆，5-第二连杆，6-第四连杆，7-第三连杆，8-第六连杆，9-第七连杆，10-第八连杆，11-第五连杆，12-连接三角板，13-末端三角板，14-末端执行器。Reference signs: 1-base, 2-rotary frame, 3a first slider, 3b-second slider, 4-first connecting rod, 5-second connecting rod, 6-fourth connecting rod, 7- Third connecting rod, 8-sixth connecting rod, 9-seventh connecting rod, 10-eighth connecting rod, 11-fifth connecting rod, 12-connecting triangular plate, 13-end triangular plate, 14-end effector.
具体实施方式Detailed ways
下面结合附图和具体实施例对本发明技术方案作进一步详细描述，所描述的具体实施例仅仅对本发明进行解释说明，并不用以限制本发明。The technical solutions of the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments, and the described specific embodiments are only to illustrate the present invention, and are not intended to limit the present invention.
如图1所示，本发明提出的一种两自由度混联机械手，包括基座1和末端执行器14，所述基座1连接有旋转框2，所述旋转框2分别通过滑动副与第一滑块3a和第二滑块3b连接，所述第一滑块3a通过转动副与第一连杆4的一端连接，所述第二滑块3b通过转动副与第二连杆5的一端连接，所述第一连杆4和第二连杆5的另一端通过转动副A与第三连杆7的一端连接；As shown in Figure 1, a two-degree-of-freedom hybrid manipulator proposed by the present invention includes a base 1 and an end effector 14, the base 1 is connected with a rotating frame 2, and the rotating frame 2 is connected with the sliding pair respectively. The first slide block 3a is connected with the second slide block 3b, the first slide block 3a is connected with one end of the first connecting rod 4 through a rotating pair, and the second sliding block 3b is connected with the second connecting rod 5 through a rotating pair One end is connected, and the other end of the first connecting rod 4 and the second connecting rod 5 is connected with one end of the third connecting rod 7 through the rotating pair A;
所述第三连杆7上的一点及所述所述第三连杆7的另一端分别与第四连杆6和第五连杆11的一端转动连接；所述第四连杆6的另一端与所述旋转框2和第六连杆8的一端通过转动副B连接；所述第六连杆8的另一端、第五连杆11上的一点及一连接三角板12通过转动副C连接；连接后的所述第三连杆7、第五连杆11、第六连杆8和第四连杆6构成了第一平行四边形机构。One point on the third connecting rod 7 and the other end of the third connecting rod 7 are respectively rotatably connected with one end of the fourth connecting rod 6 and the fifth connecting rod 11; the other end of the fourth connecting rod 6 One end is connected with the rotating frame 2 and one end of the sixth connecting rod 8 through a rotating pair B; the other end of the sixth connecting rod 8, a point on the fifth connecting rod 11 and a connecting triangle 12 are connected through a rotating pair C ; The connected third connecting rod 7, fifth connecting rod 11, sixth connecting rod 8 and fourth connecting rod 6 form a first parallelogram mechanism.
所述第六连杆8的另一端与第七连杆9的一端转动连接；所述第七连杆9的另一端与所述连接三角板12转动连接；连接后的所述旋转框2、第六连杆8、连接三角板12和第七连杆9构成了第二平行四边形机构。The other end of the sixth connecting rod 8 is rotatably connected to one end of the seventh connecting rod 9; the other end of the seventh connecting rod 9 is rotatably connected to the connecting triangle 12; The six connecting rods 8, the connecting triangular plate 12 and the seventh connecting rod 9 constitute the second parallelogram mechanism.
所述连接三角板12顺次转动连接有第八连杆10和末端三角板13，所述第五连杆11的另一端与所述末端三角板13转动连接，连接后的所述第五连杆11、连接三角板12、末端三角板13和第八连杆10构成了第三平行四边形机构。所述末端执行器14与所述末端三角板13固接。The connecting triangle plate 12 is sequentially connected with the eighth connecting rod 10 and the end triangle plate 13, and the other end of the fifth connecting rod 11 is connected with the end triangle plate 13 in rotation, and the connected fifth connecting rod 11, The connecting triangular plate 12, the end triangular plate 13 and the eighth connecting rod 10 constitute a third parallelogram mechanism. The end effector 14 is fixedly connected to the end triangular plate 13 .
所述旋转框2、第一滑块3a、第二滑块3b、第一连杆4和第二连杆5构成了并联部分，所述第一平行四边形机构、第二平行四边形机构和第三平行四边形机构构成了串联部分；通过并联部分的驱动作用和串联部分的比例放大和平动，从而将第一滑块3a和第二滑块3b相对于旋转框2的滑动最终转化为末端执行器14的两个平动自由度。The rotating frame 2, the first slider 3a, the second slider 3b, the first connecting rod 4 and the second connecting rod 5 constitute a parallel part, and the first parallelogram mechanism, the second parallelogram mechanism and the third The parallelogram mechanism constitutes the series part; through the driving action of the parallel part and the proportional amplification and translation of the series part, the sliding of the first slider 3a and the second slider 3b relative to the rotating frame 2 is finally transformed into the end effector 14 The two translational degrees of freedom of .
在上述两自由度混联机械手结构的基础上，若旋转框2与基座1相对转动，同时，末端执行器14可以自转，使得末端执行器14在原有的两个平动自由度的基础上又添加了两个转动自由度，从而构成了一种四自由度混联机械手。On the basis of the above-mentioned two-degree-of-freedom hybrid manipulator structure, if the rotating frame 2 and the base 1 rotate relatively, at the same time, the end effector 14 can rotate on its own, so that the end effector 14 can move on the basis of the original two translational degrees of freedom. Two rotational degrees of freedom are added to form a four-degree-of-freedom hybrid manipulator.
另外，在上述两自由度混联机械手结构的基础上，若去除第七连杆9、第八连杆10，连接三角板12、末端三角板13和末端执行器14，则构成了一种两自由度定位机构。若在该两自由度定位机构的基础上，使旋转框2与基座1相对转动，并在第五连杆11上加装一三自由度手腕就构成六自由度混联机械手。In addition, on the basis of the above-mentioned two-degree-of-freedom hybrid manipulator structure, if the seventh connecting rod 9 and the eighth connecting rod 10 are removed, and the triangular plate 12, the end triangular plate 13 and the end effector 14 are connected, a two-degree-of-freedom positioning agency. If on the basis of the two-degree-of-freedom positioning mechanism, the rotating frame 2 and the base 1 are relatively rotated, and a three-degree-of-freedom wrist is installed on the fifth connecting rod 11, a six-degree-of-freedom hybrid manipulator is formed.
本发明提供一种两自由度定位机构及其多自由度混联机械手，其中的两自由度混联机械手的串联部分可以将并联部分提供的滑动最终转化为末端执行器的两个平动自由度。本发明机械手采用串并混联拓扑结构，其结构紧凑，减小了运动部件质量，增大了工作空间，提高了运动精度，易实现高速运动，同时移动副的驱动方式可使得该机构的负载能力大幅提升。The present invention provides a two-degree-of-freedom positioning mechanism and its multi-degree-of-freedom hybrid manipulator, wherein the series part of the two-degree-of-freedom hybrid manipulator can finally convert the sliding provided by the parallel part into two translational degrees of freedom of the end effector . The manipulator of the present invention adopts a series-parallel hybrid topological structure, which has a compact structure, reduces the mass of the moving parts, increases the working space, improves the motion accuracy, and is easy to realize high-speed motion. At the same time, the driving mode of the moving pair can make the load of the mechanism The ability has been greatly improved.
尽管上面结合附图对本发明的优选实施例进行了描述，但是本发明并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，并不是限制性的，本领域的普通技术人员在本发明的启示下，在不脱离本发明宗旨和权利要求所保护的范围情况下，还可以做出很多形式，这些均属于本发明的保护范围之内。Although the preferred embodiments of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments. The above-mentioned specific embodiments are only illustrative and not restrictive. Those of ordinary skill in the art Under the enlightenment of the present invention, people can also make many forms without departing from the purpose of the present invention and the scope of protection of the claims, and these all belong to the protection scope of the present invention.
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