CN103213118A - Reconfigurable parallel robot - Google Patents
Reconfigurable parallel robot Download PDFInfo
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- CN103213118A CN103213118A CN201310156726XA CN201310156726A CN103213118A CN 103213118 A CN103213118 A CN 103213118A CN 201310156726X A CN201310156726X A CN 201310156726XA CN 201310156726 A CN201310156726 A CN 201310156726A CN 103213118 A CN103213118 A CN 103213118A
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- chain drive
- slide block
- parallel robot
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Abstract
The invention relates to a reconfigurable parallel robot. The reconfigurable parallel robot comprises a robot substrate and a base frame, wherein the robot substrate and the base frame are installed relatively in an upper and lower mode, a plurality of supporting posts are installed between the robot substrate and the base frame to constitute a frame structure, branching chain driving devices, sliding blocks and a tail end moving platform are installed on the frame structure, the sliding blocks and the tail end moving platform are driven by the branching chain driving devices to do straight reciprocating motion, connection rod assemblies are installed between the sliding blocks and the tail end moving platform, and a tool installation base is installed at the bottom of the frame structure. The reconfigurable parallel robot can be respectively combined into a telescopic type parallel structure form, a sliding block type parallel structure form, a DELTA type parallel structure form and a shear type parallel structure form through the components. The reconfigurable parallel robot has the advantages of being high in stiffness, stable in structure, strong in bearing capability, high in accuracy, small in motion inertia, and reconfigurable.
Description
Technical field
The present invention relates to a kind of restructural parallel robot.
Background technology
In the technique known field, under the economic model that market economy is taken as the leading factor, in order to adapt to fast-changing market demands, modular fabrication tool has been proposed new requirement, be that the flexible manufacturing system (FMS) of representative is developed just fast with the Reconfigurable Manufacturing System.And based on the strategy of sustainable development, be reconfigurable into to inevitable the efficient utilization of resource is also feasible.The product that parallel connection equipment combines as machine tool technology and Robotics, traditional structure lathe and robot architecture's instability, a little less than the bearing capacity, shortcoming such as the little motional inertia of precision is big, and the characteristics of the easy reconstruct of parallel connection equipment itself have determined the critical role of parallel connection equipment in reconfigurable system.The research of parallel robot reconfigurability brings good start for the feasibility of parallel connection equipment reconstruct and the diversity of reconstruct.
Summary of the invention
The technical problem to be solved in the present invention is: overcome shortcomings such as traditional structure lathe and robot architecture's instability, bearing capacity are weak, precision is little, motional inertia is big, provide that a kind of rigidity is big, Stability Analysis of Structures, bearing capacity is strong, precision is high, motional inertia is little and the restructural parallel robot that can be reconstructed.
The technical solution adopted for the present invention to solve the technical problems is: a kind of restructural parallel robot, comprise upper and lower robotic substrate that is oppositely arranged and bedframe, between described robotic substrate and bedframe, be provided with a plurality of support cylinders and constitute frame structure, on described frame structure, be provided with the slide block and the terminal motion platform that prop up a chain drive mechanism, do straight reciprocating motion by the driving of a chain drive mechanism, and be provided with link assembly between described slide block and the terminal motion platform, be provided with the workpiece mounting seat in the bottom of described frame structure; Described restructural parallel robot can be combined into telescopic, slide block type, DELTA formula, four kinds of parallel-connection structure forms of scissors respectively by the above formation.
Further, version as a kind of override employing, promptly adopt telescopic parallel-connection structure form, chain drive mechanism described in the present invention has linear bearing, drive motors, motor fixing plate, shaft coupling, bearing fixed seat, ball screw, ball screw screw, slide block and bearing, and described link assembly has Hooke's hinge, cross axle, fixedly Hooke's hinge, connecting rod, rotation Hooke's hinge and Hooke's hinge installing plate; Described connecting rod passes linear bearing and is enclosed within on the ball screw, and be fixedly mounted on the lower end position of slide block, Hooke's hinge is installed on the Hooke's hinge installing plate, fixedly Hooke's hinge and robotic substrate hinged securement, and described connecting rod is connected with terminal motion platform by rotating Hooke's hinge; Described restructural parallel robot has 6 chain drive mechanisms and drives 6 slide blocks respectively, between each slide block and terminal motion platform, be equipped with a link assembly, each chain drive mechanism and each link assembly constitute one group of driver part, and six groups of driver parts center on the central axis rotation distribution of robotic substrate.
Further, as a kind of concrete version, of the present invention chain drive mechanism has drive motors, ball screw and slide block, described drive motors is in transmission connection by shaft coupling and ball screw, and described ball screw is in transmission connection to realize the straight reciprocating motion of slide block by ball screw screw and slide block.
Further, as a kind of concrete mounting means, of the present invention chain drive mechanism is installed between three channel-section steel columns of uniform setting, described drive motors is fixedlyed connected with the channel-section steel column by motor fixing plate, bearing fixed seat respectively with ball screw, and described chain drive mechanism has the bearing that is connected as a single entity with three channel-section steel columns, and fixedlys connected with robotic substrate in the upper end of described three channel-section steel columns.
Further, as a kind of concrete version, link assembly of the present invention has two Hooke's hinges that are oppositely arranged, between described two Hooke's hinges, be provided with connecting rod, one end of described connecting rod is connected with Hooke's hinge with fixing Hooke's hinge by cross axle, the other end is connected with Hooke's hinge by the rotation Hooke's hinge that can rotate around the axis of connecting rod, and described two Hooke's hinges are fixedlyed connected with terminal motion platform with slide block respectively.
Further, as the second top-priority embodiment, promptly adopt slide block type parallel-connection structure form, restructural parallel robot of the present invention has 6 chain drive mechanisms and drives 6 slide blocks respectively, between each slide block and terminal motion platform, be equipped with a link assembly, be that each chain drive mechanism drives a link assembly, and per two chain drive mechanisms and per two link assemblies constitute one group of driver part, and three groups of driver parts center on the central axis rotation distribution of robotic substrate.
Further, as the 3rd top-priority embodiment, promptly adopt DELTA formula parallel-connection structure form, restructural parallel robot of the present invention has 3 chain drive mechanisms and drives 3 slide blocks respectively, between each slide block and terminal motion platform, be equipped with two link assemblies, be that each chain drive mechanism drives two link assemblies, each chain drive mechanism and per two link assemblies constitute one group of driver part, and three groups of driver parts center on the central axis rotation distribution of robotic substrate.
Further, as the 4th top-priority embodiment, promptly adopt scissors parallel-connection structure form, restructural parallel robot of the present invention has 6 chain drive mechanisms and drives 6 slide blocks respectively, between each slide block and terminal motion platform, be equipped with a link assembly, each chain drive mechanism and each link assembly constitute one group of driver part, and six groups of driver parts center on the central axis rotation distribution of robotic substrate, and described chain drive mechanism is installed on the robotic substrate.
Further, for convenience connection line, be convenient to control the motion of robot, the cable of restructural parallel robot of the present invention all is pooled on the bedframe, and described bedframe is welded by channel-section steel, and the air plug box of restructural parallel robot is installed on bedframe.
The invention has the beneficial effects as follows: it is big to adopt the robot of this structure to have rigidity, Stability Analysis of Structures, bearing capacity is strong, precision is high, motional inertia is little and the characteristics that can be reconstructed, especially the form of telescopically driven six-degree-of-freedom parallel connection mechanism, type of drive and form of the composition design are ingenious, flexibility is good, precision is high and motional inertia can reach optimal situation, so the application meeting of the robot of this kind structure more and more widely.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is the structural representation of the of the present invention first preferential embodiment;
Fig. 2 is the structural representation that props up chain drive mechanism and link assembly among the of the present invention first preferential embodiment;
Fig. 3 is the structural representation of the chain drive mechanism among second preferential embodiment to the four preferential embodiment among the present invention;
Fig. 4 is the structural representation of the link assembly among second preferential embodiment to the four preferential embodiment among the present invention;
Fig. 5 is the structural representation of the second preferential embodiment among the present invention;
Fig. 6 is the structural representation of the 3rd preferential embodiment among the present invention;
Fig. 7 is the structural representation of the 4th preferential embodiment among the present invention;
Among the figure: 1. robotic substrate, 2. bedframe, 3. support cylinder, 4. prop up chain drive mechanism, 4-1. linear bearing, 4-2. drive motors, 4-3. motor fixing plate, 4-4. shaft coupling, 4-5. bearing fixed seat, 4-6. ball screw, 4-7. ball screw screw, 4-8. slide block, 4-9. bearing, 41. channel-section steel columns, 42. drive motors, 43. motor fixing plate, 44. shaft couplings, 45. bearing fixed seats, 46. ball screw, 47. ball screw screws, 48. slide blocks, 49. bearing, 5. terminal motion platform, 6. link assembly, 6-1. Hooke's hinge, the 6-2. cross axle, 6-3. is Hooke's hinge fixedly, 6-4. connecting rod, 6-5. rotates Hooke's hinge, 6-6. Hooke's hinge installing plate, 61. Hooke's hinge, 62. cross axles, 63. fixing Hooke's hinges, 64. connecting rod, 65. rotate Hooke's hinge.
The specific embodiment
In conjunction with the accompanying drawings, the present invention is further detailed explanation.These accompanying drawings are the schematic diagram of simplification, basic structure of the present invention only is described in a schematic way, so it only show the formation relevant with the present invention.
The first preferential embodiment of a kind of restructural parallel robot of the present invention as depicted in figs. 1 and 2, promptly adopt telescopic parallel-connection structure form, comprise, robotic substrate 1 that is oppositely arranged down and bedframe 2, between described robotic substrate 1 and bedframe 2, be provided with a plurality of support cylinders 3 and constitute frame structure, on described frame structure, be provided with a chain drive mechanism 4, make the slide block 48 and the terminal motion platform 5 of straight reciprocating motion by the driving of a chain drive mechanism 4, and be provided with link assembly 6 between described slide block 41 and the terminal motion platform 5, be provided with workpiece mounting seat 7 in the bottom of described frame structure.Described chain drive mechanism 4 has linear bearing 4-1, drive motors 4-2, motor fixing plate 4-3, shaft coupling 4-4, bearing fixed seat 4-5, ball screw 4-6, ball screw screw 4-7, slide block 4-8 and bearing 4-9; Described link assembly 6 have Hooke's hinge 6-1, cross axle 6-2, fixedly Hooke's hinge 6-3, connecting rod 6-4, rotate Hooke's hinge 6-5 and Hooke's hinge installing plate 6-6; Described connecting rod 6-4 passes linear bearing 4-1 and is enclosed within on the ball screw 4-6, and be fixedly mounted on the lower end position of slide block 4-8, Hooke's hinge 6-1 is installed on the Hooke's hinge installing plate 6-6, fixedly Hooke's hinge 6-3 and robotic substrate 1 hinged securement, described connecting rod 6-4 is connected with terminal motion platform 5 by rotating Hooke's hinge 6-5; Described restructural parallel robot has 6 chain drive mechanisms 4 and drives 6 slide blocks 48 respectively, between each slide block 48 and terminal motion platform 5, be equipped with a link assembly 6, each chain drive mechanism 4 and each link assembly 6 constitute one group of driver part, six groups of driver parts center on the central axis rotation distribution of robotic substrate 1, this kind type of drive and form of the composition design are ingenious, and flexibility is good, precision is high and motional inertia can reach optimal situation.
The second preferential embodiment as Fig. 3, Fig. 4 and a kind of restructural parallel robot of the present invention shown in Figure 5, promptly adopt slide block type parallel-connection structure form, described chain drive mechanism 4 has drive motors 42, ball screw 46 and slide block 48, described drive motors 42 is in transmission connection by shaft coupling 44 and ball screw 46, and described ball screw 46 is in transmission connection to realize the straight reciprocating motion of slide block 48 by ball screw screw 47 and slide block 48; Described chain drive mechanism 4 is installed between three channel-section steel columns 41 of uniform setting, described drive motors 42 is fixedlyed connected with channel-section steel column 41 by motor fixing plate 43, bearing fixed seat 45 respectively with ball screw 46, and described chain drive mechanism 4 has the bearing 49 that is connected as a single entity with three channel-section steel columns 41, and fixedlys connected with robotic substrate 1 in the upper end of described three channel-section steel columns 41; Described link assembly 6 has two Hooke's hinges 61 that are oppositely arranged, between described two Hooke's hinges 61, be provided with connecting rod 64, one end of described connecting rod 64 is connected with Hooke's hinge 61 with fixing Hooke's hinge 63 by cross axle 62, the other end is connected with Hooke's hinge 61 by the rotation Hooke's hinge 65 that can rotate around the axis of connecting rod 64, and described two Hooke's hinges 61 are fixedlyed connected with terminal motion platform 5 with slide block 48 respectively.
In the second top-priority enforcement, described restructural parallel robot has 6 chain drive mechanisms 4 and drives 6 slide block 4-8 respectively, between each slide block 4-8 and terminal motion platform 5, be equipped with a link assembly 6, be that each chain drive mechanism 4 drives a link assembly 6, and per two chain drive mechanisms 4 and per two link assemblies 6 constitute one group of driver part, and three groups of driver parts center on the central axis rotation distribution of robotic substrate 1.
The 3rd of a kind of restructural parallel robot of the present invention the preferential embodiment as shown in Figure 6, promptly adopt DELTA formula parallel-connection structure form, described chain drive mechanism 4, described link assembly 6 is all consistent, wherein, described restructural parallel robot has 3 chain drive mechanisms 4 and drives 3 slide blocks 48 respectively, between each slide block 48 and terminal motion platform 5, be equipped with two link assemblies 6, be that each chain drive mechanism 4 drives two link assemblies 6, each chain drive mechanism 4 and per two link assemblies 6 constitute one group of driver part, and three groups of driver parts center on the central axis rotation distribution of robotic substrate 1.
The 4th of a kind of restructural parallel robot of the present invention the preferential embodiment as shown in Figure 7, promptly adopt scissors parallel-connection structure form, described chain drive mechanism 4, described link assembly 6 is all consistent, wherein, described restructural parallel robot has 6 chain drive mechanisms 4 and drives 6 slide blocks 48 respectively, between each slide block 48 and terminal motion platform 5, be equipped with a link assembly 6, each chain drive mechanism 4 and each link assembly 6 constitute one group of driver part, six groups of driver parts center on the central axis rotation distribution of robotic substrate 1, and described chain drive mechanism 4 is installed on the robotic substrate 1.
Among all above-mentioned embodiment, the cable of described restructural parallel robot all is pooled on the bedframe 2, and described bedframe 2 is welded by channel-section steel, and the air plug box of restructural parallel robot is installed on bedframe 2.
With above-mentioned foundation desirable embodiment of the present invention is enlightenment, and by above-mentioned description, the related work personnel can carry out various change and modification fully in the scope that does not depart from this invention technological thought.The technical scope of this invention is not limited to the content on the specification, must determine its technical scope according to the claim scope.
Claims (9)
1. restructural parallel robot, comprise, robotic substrate that is oppositely arranged (1) and bedframe (2) down, between described robotic substrate (1) and bedframe (2), be provided with a plurality of support cylinders (3) and constitute frame structure, it is characterized in that: on described frame structure, be provided with a chain drive mechanism (4), make the slide block (48) and the terminal motion platform (5) of straight reciprocating motion by the driving of a chain drive mechanism (4), and be provided with link assembly (6) between described slide block (48) and the terminal motion platform (5), be provided with workpiece mounting seat (7) in the bottom of described frame structure;
Described restructural parallel robot can be combined into telescopic, slide block type, DELTA formula, four kinds of parallel-connection structure forms of scissors respectively by the above formation.
2. a kind of restructural parallel robot as claimed in claim 1 is characterized in that: described chain drive mechanism (4) has linear bearing (4-1), drive motors (4-2), motor fixing plate (4-3), shaft coupling (4-4), bearing fixed seat (4-5), ball screw (4-6), ball screw screw (4-7), slide block (4-8) and bearing (4-9);
Described link assembly (6) have Hooke's hinge (6-1), cross axle (6-2), fixedly Hooke's hinge (6-3), connecting rod (6-4), rotate Hooke's hinge (6-5) and Hooke's hinge installing plate (6-6);
Described connecting rod (6-4) passes linear bearing (4-1) and is enclosed within on the ball screw (4-6), and be fixedly mounted on the lower end position of slide block (4-8), Hooke's hinge (6-1) is installed on the Hooke's hinge installing plate (6-6), fixedly Hooke's hinge (6-3) and robotic substrate (1) hinged securement, described connecting rod (6-4) is connected with terminal motion platform (5) by rotating Hooke's hinge (6-5);
The restructural parallel robot of described telescopic parallel-connection structure form has 6 chain drive mechanisms (4) and drives 6 slide blocks (4-8) respectively, between each slide block (4-8) and terminal motion platform (5), be equipped with a link assembly (6), each chain drive mechanism (4) and each link assembly (6) constitute one group of driver part, and six groups of driver parts center on the central axis rotation distribution of robotic substrate (1).
3. a kind of restructural parallel robot as claimed in claim 1, it is characterized in that: described chain drive mechanism (4) has drive motors (42), ball screw (46) and slide block (48), described drive motors (42) is in transmission connection by shaft coupling (44) and ball screw (46), and described ball screw (46) is in transmission connection to realize the straight reciprocating motion of slide block (48) by ball screw screw (47) and slide block (48).
4. a kind of restructural parallel robot as claimed in claim 3, it is characterized in that: described chain drive mechanism (4) is installed between three channel-section steel columns (41) of uniform setting, described drive motors (42) is fixedlyed connected with channel-section steel column (41) by motor fixing plate (43), bearing fixed seat (45) respectively with ball screw (46), and described chain drive mechanism (4) has the bearing (49) that is connected as a single entity with three channel-section steel columns (41), and fixedlys connected with robotic substrate (1) in the upper end of described three channel-section steel columns (41).
5. a kind of restructural parallel robot as claimed in claim 1, it is characterized in that: described link assembly (6) has two Hooke's hinges (61) that are oppositely arranged, between described two Hooke's hinges (61), be provided with connecting rod (64), one end of described connecting rod (64) is connected with Hooke's hinge (61) with fixing Hooke's hinge (63) by cross axle (62), the other end is connected with Hooke's hinge (61) by the rotation Hooke's hinge (65) that can rotate around the axis of connecting rod (64), and described two Hooke's hinges (61) are fixedlyed connected with terminal motion platform (5) with slide block (48) respectively.
6. a kind of restructural parallel robot as claimed in claim 1, it is characterized in that: the restructural parallel robot of described slide block type parallel-connection structure form has 6 chain drive mechanisms (4) and drives 6 slide blocks (48) respectively, between each slide block (48) and terminal motion platform (5), be equipped with a link assembly (6), be that each chain drive mechanism (4) drives a link assembly (6), and per two chain drive mechanisms (4) and per two link assemblies (6) constitute one group of driver part, and three groups of driver parts center on the central axis rotation distribution of robotic substrate (1).
7. a kind of restructural parallel robot as claimed in claim 1, it is characterized in that: the restructural parallel robot of described DELTA formula parallel-connection structure form has 3 chain drive mechanisms (4) and drives 3 slide blocks (48) respectively, between each slide block (48) and terminal motion platform (5), be equipped with two link assemblies (6), be that each chain drive mechanism (4) drives two link assemblies (6), each chain drive mechanism (4) and per two link assemblies (6) constitute one group of driver part, and three groups of driver parts center on the central axis rotation distribution of robotic substrate (1).
8. a kind of restructural parallel robot as claimed in claim 1, it is characterized in that: the restructural parallel robot of described scissors parallel-connection structure form has 6 chain drive mechanisms (4) and drives 6 slide blocks (48) respectively, between each slide block (48) and terminal motion platform (5), be equipped with a link assembly (6), each chain drive mechanism (4) and each link assembly (6) constitute one group of driver part, six groups of driver parts center on the central axis rotation distribution of robotic substrate (1), and described chain drive mechanism (4) is installed on the robotic substrate (1).
9. a kind of restructural parallel robot as claimed in claim 1, it is characterized in that: the cable of described restructural parallel robot all is pooled on the bedframe (2), described bedframe (2) is welded by channel-section steel, and the air plug box of restructural parallel robot is installed on bedframe (2).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310156726XA CN103213118A (en) | 2013-04-28 | 2013-04-28 | Reconfigurable parallel robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310156726XA CN103213118A (en) | 2013-04-28 | 2013-04-28 | Reconfigurable parallel robot |
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| CN103213118A true CN103213118A (en) | 2013-07-24 |
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| CN201310156726XA Pending CN103213118A (en) | 2013-04-28 | 2013-04-28 | Reconfigurable parallel robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107962557A (en) * | 2017-12-29 | 2018-04-27 | 勃肯特（天津）机器人技术有限公司 | A kind of four axis robot of desktop |
| CN109909530A (en) * | 2018-12-31 | 2019-06-21 | 江苏一重数控机床有限公司 | A kind of welding line milling mechanism |
| CN112091939A (en) * | 2020-08-24 | 2020-12-18 | 上海大学 | Reconfigurable deformation truss mechanism based on flexible plate driving |
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| CN101947784A (en) * | 2010-08-30 | 2011-01-19 | 苏州博实机器人技术有限公司 | Dismountable modularized in-parallel robot |
| CN101947785A (en) * | 2010-08-30 | 2011-01-19 | 苏州博实机器人技术有限公司 | Reconfigurable in-parallel robot |
| RO127277A2 (en) * | 2010-09-24 | 2012-04-30 | Universitatea Tehnică Din Cluj-Napoca | Method and modules for reconfiguration of parallel robots |
| CN203282477U (en) * | 2013-04-28 | 2013-11-13 | 苏州博实机器人技术有限公司 | Reconfigurable parallel robot |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101108481A (en) * | 2007-08-31 | 2008-01-23 | 清华大学 | Parallel machine with restructurable configuration and scale |
| CN101947784A (en) * | 2010-08-30 | 2011-01-19 | 苏州博实机器人技术有限公司 | Dismountable modularized in-parallel robot |
| CN101947785A (en) * | 2010-08-30 | 2011-01-19 | 苏州博实机器人技术有限公司 | Reconfigurable in-parallel robot |
| RO127277A2 (en) * | 2010-09-24 | 2012-04-30 | Universitatea Tehnică Din Cluj-Napoca | Method and modules for reconfiguration of parallel robots |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107962557A (en) * | 2017-12-29 | 2018-04-27 | 勃肯特（天津）机器人技术有限公司 | A kind of four axis robot of desktop |
| CN109909530A (en) * | 2018-12-31 | 2019-06-21 | 江苏一重数控机床有限公司 | A kind of welding line milling mechanism |
| CN112091939A (en) * | 2020-08-24 | 2020-12-18 | 上海大学 | Reconfigurable deformation truss mechanism based on flexible plate driving |
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Application publication date: 20130724 |