CN105599000A - Four-branch-chain parallel spray robot joint - Google Patents
Four-branch-chain parallel spray robot joint Download PDFInfo
- Publication number
- CN105599000A CN105599000A CN201610171008.3A CN201610171008A CN105599000A CN 105599000 A CN105599000 A CN 105599000A CN 201610171008 A CN201610171008 A CN 201610171008A CN 105599000 A CN105599000 A CN 105599000A
- Authority
- CN
- China
- Prior art keywords
- slide block
- connecting rod
- guide rail
- branched chain
- shaped guide
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- 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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
Abstract
The invention discloses a four-branch-chain parallel spray robot joint which mainly comprises a fixed platform, a mobile platform, an annular guide rail and four motion branch chains connecting the fixed platform and the mobile platform, wherein each motion branch chain consists of a lower connecting rod, a slider and an upper connecting rod; the lower connecting rod is connected with the fixed platform through a rotary pair; the lower connecting rod is connected with the slider through a rotary pair or a spherical pair; the slider is connected with the upper connecting rod through a rotary pair or a spherical pair; the upper connecting rod is connected with the mobile platform through a rotary pair; sliders in the four motion branch chains are all connected with the annular guide rail through a moving pair; the sliders only can make circumferential slip along the annular guide rail; and the annular guide rail is of a ring shape. The four-branch-chain parallel spray robot joint disclosed by the invention can realize two-degree-of-freedom rotation of the mobile platform relative to the fixed platform, has the advantages of small volume, high rigidity, high precision, large rotation working space and the like and can be widely applied to the field of robot joints.
Description
Technical field
The present invention relates to a kind of joint of robot, particularly a kind of four side chains spraying robot person joint in parallel.
Technical background
Along with the rapid emergence of auto industry, automotive automation spraying technology is also developed rapidly, and due to the highly flexible feature of spray robot, spray robot is widely applied in automatic spraying field. Spray robot mostly generally is six degree of freedom serial machine people at present, and serial machine people has larger working space, but its accumulated error is large, is unfavorable for the raising of deposition accuracies. But the relative serial mechanism of parallel institution has without accumulated error, the advantage such as precision is high, dynamic response is good, can be applicable to high precision manipulation robot. But the working space of parallel institution is generally less, seriously restrict the application of parallel institution in fields such as industry and robots.
In conjunction with the advantage of series and parallel mechanism, can adopt hybrid mechanism to build the industrial robot that precision is higher, for example Chinese patent CN103433918A discloses a kind of five degree of freedom series-parallel connection industrial robot, regulate end-of-arm tooling position by three one-movement-freedom-degree serial mechanisms, regulate end-of-arm tooling attitude by end two one-rotation parallel mechanisms. For such series-parallel connection spray robot, its key technology is that terminal angle regulates parallel institution, for improving precision and the flexibility ratio thereof of spray robot, require terminal angle to regulate parallel institution should there is less volume and larger working space and higher rigidity. Common parallel institution is difficult to reach requirement, and abroad to the research of such mechanism early, wherein US Patent No. 5036724 discloses a kind of large working space two one-rotation parallel mechanisms, and is successfully applied in industrial spraying robot wrist joint. Though the research of at present small size, large working space being rotated to class parallel institution has obtained certain achievement, new mechanism configuration is still comparatively deficient, and openly the rigidity of mechanism is generally less, has limited the further application of such mechanism in industrial robot.
Summary of the invention
For addressing the above problem, the invention provides a kind of four side chains spraying robot person joint in parallel, can realize moving platform and do two-freedom relative to fixed platform and rotate, and this joint has advantages such as volume is little, rigidity large, rotation work space is large, can be widely used in joint of robot.
Technical scheme of the present invention is specific as follows:
The present invention mainly comprises fixed platform, moving platform, ring-shaped guide rail, connects four movement branched chain moving, fixed platform, and it has three kinds of connected modes:
The first connected mode: four movement branched chain structures are identical, every movement branched chain is by lower link, slide block and upper connecting rod composition, lower link one end is connected by fixed platform revolute pair with fixed platform, the lower link other end is connected by lower revolute pair with slide block, upper connecting rod one end is connected by moving platform revolute pair with moving platform, and the upper connecting rod other end is connected by spherical pair with slide block; Article four, in movement branched chain, four fixed platform revolute pair axis and four lower turns auxiliary shaft congruences meet at 1 P, and four moving platform turns auxiliary shaft congruences meet at 1 Q, and some Q does not overlap with described some P; Slide block in every movement branched chain is all connected by moving sets with ring-shaped guide rail, and slide block can only do circumferential slippage along ring-shaped guide rail, and ring-shaped guide rail is annular, and its central axis is crossed described some P and put Q.
The second connected mode: four movement branched chain structures are identical, every movement branched chain is by lower link, slide block and upper connecting rod composition, lower link one end is connected by fixed platform revolute pair with fixed platform, the lower link other end is connected by spherical pair with slide block, upper connecting rod one end is connected by moving platform revolute pair with moving platform, and the upper connecting rod other end is connected by upper revolute pair with slide block; Article four, in movement branched chain, four fixed platform turns auxiliary shaft congruences meet at 1 P, and four moving platform revolute pair axis and four upper turns auxiliary shaft congruences meet at 1 Q, and some Q does not overlap with described some P; Slide block in every movement branched chain is all connected by moving sets with ring-shaped guide rail, and slide block can only do circumferential slippage along ring-shaped guide rail, and ring-shaped guide rail is annular, and its central axis is crossed described some P and put Q.
The third connected mode: four movement branched chain structures are identical, every movement branched chain is by lower link, slide block and upper connecting rod composition, lower link one end is connected by fixed platform revolute pair with fixed platform, the lower link other end is connected by spherical pair with slide block, upper connecting rod one end is connected by moving platform revolute pair with moving platform, and the upper connecting rod other end is connected by spherical pair with slide block; Article four, in movement branched chain, four fixed platform turns auxiliary shaft congruences meet at 1 P, and four moving platform turns auxiliary shaft congruences meet at 1 Q, and some Q does not overlap with described some P; Slide block in every movement branched chain is all connected by moving sets with ring-shaped guide rail, and slide block can only do circumferential slippage along ring-shaped guide rail, and ring-shaped guide rail is annular, and its central axis is crossed described some P and put Q.
The present invention compared with prior art tool has the following advantages:
(1) the relative fixed platform rotation work of the moving platform in joint space is large, can reach ± 90 degree of rotational angle; (2) arthritic volume is little, and rigidity is large; (3) between four of joint movement branched chain, intercouple, greatly improved the stress performance in joint; (4) middle part, joint is hollow structure, and cable, pipeline etc. can pass in the middle of joint, are convenient to spraying.
Brief description of the drawings
Fig. 1 is the embodiment of the present invention 1 stereochemical structure simplified schematic diagram.
Fig. 2 is the embodiment of the present invention 1 deflection state stereochemical structure simplified schematic diagram.
Fig. 3 is the embodiment of the present invention 2 stereochemical structure simplified schematic diagram.
Fig. 4 is the embodiment of the present invention 2 deflection state stereochemical structure simplified schematic diagram.
Fig. 5 is the embodiment of the present invention 3 stereochemical structure simplified schematic diagram.
Fig. 6 is the embodiment of the present invention 3 deflection state stereochemical structure simplified schematic diagram.
In figure: 1. fixed platform, 2. moving platform, (A3, B3, C3, D3). lower link, (A4, B4, C4, D4). slide block, (A5, B5, C5, D5). upper connecting rod, 6. ring-shaped guide rail.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described, and in all embodiments, described Rij represents a revolute pair, and Sij represents a spherical pair, and Pij represents a moving sets, wherein i, and j is natural number.
Embodiment 1
Be the 1st embodiment disclosed by the invention as shown in Figure 1 and Figure 2, a kind of four side chains spraying robot person joint in parallel, mainly comprises fixed platform 1, moving platform 2, ring-shaped guide rail 6, connects four movement branched chain moving, fixed platform. Article four, movement branched chain structure is identical, and wherein the first movement branched chain is made up of lower link A3, slide block A4 and upper connecting rod A5, between lower link A3 one end and fixed platform 1, is connected by revolute pair R11, and the lower link A3 other end is connected by revolute pair R12 with slide block A4; Upper connecting rod A5 one end is connected by spherical pair S13 with slide block A4, between the upper connecting rod A5 other end and moving platform 2, is connected by revolute pair R14. The second movement branched chain is made up of lower link B3, slide block B 4 and upper connecting rod B5, between lower link B3 one end and fixed platform 1, is connected by revolute pair R21, and the lower link B3 other end is connected by revolute pair R22 with slide block B 4; Upper connecting rod B5 one end is connected by spherical pair S23 with slide block B 4, between the upper connecting rod B5 other end and moving platform 2, is connected by revolute pair R24. The 3rd movement branched chain is made up of lower link C3, slide block C4 and upper connecting rod C5, between lower link C3 one end and fixed platform 1, is connected by revolute pair R31, and the lower link C3 other end is connected by revolute pair R32 with slide block C4; Upper connecting rod C5 one end is connected by spherical pair S33 with slide block C4, between the upper connecting rod C5 other end and moving platform 2, is connected by revolute pair R34. The 4th movement branched chain is made up of lower link D3, slide block D4 and upper connecting rod D5, between lower link D3 one end and fixed platform 1, is connected by revolute pair R41, and the lower link D3 other end is connected by revolute pair R42 with slide block D4; Upper connecting rod D5 one end is connected by spherical pair S43 with slide block D4, between the upper connecting rod D5 other end and moving platform 2, is connected by revolute pair R44.
In the first movement branched chain, slide block A4 is connected by moving sets P15 with ring-shaped guide rail 6, and slide block A4 can only do circumferential slippage along ring-shaped guide rail 6; In the second movement branched chain, slide block B 4 is connected by moving sets P25 with ring-shaped guide rail 6, and slide block B 4 can only be done circumferential slippage along ring-shaped guide rail 6; In the 3rd movement branched chain, slide block C4 is connected by moving sets P35 with ring-shaped guide rail 6, and slide block C4 can only do circumferential slippage along ring-shaped guide rail 6; In the 4th movement branched chain, slide block D4 is connected by moving sets P45 with ring-shaped guide rail 6, and slide block D4 can only do circumferential slippage along ring-shaped guide rail 6.
The axis of described revolute pair R11, revolute pair R12, revolute pair R21, revolute pair R22, revolute pair R31, revolute pair R32, revolute pair R41, revolute pair R42 intersects at 1 P; The axis of described revolute pair R14, revolute pair R24, revolute pair R34, revolute pair R44 intersects at 1 Q, and some Q does not overlap with a described P. Described ring-shaped guide rail 6 is annular, and its central axis is crossed described some P and put Q.
Embodiment 2
Be the 2nd embodiment disclosed by the invention as shown in Figure 3, Figure 4, a kind of four side chains spraying robot person joint in parallel, mainly comprises fixed platform 1, moving platform 2, ring-shaped guide rail 6, connects four movement branched chain moving, fixed platform. Article four, movement branched chain structure is identical, and wherein the first movement branched chain is made up of lower link A3, slide block A4 and upper connecting rod A5, between lower link A3 one end and fixed platform 1, is connected by revolute pair R11, and the lower link A3 other end is connected by spherical pair S12 with slide block A4; Upper connecting rod A5 one end is connected by revolute pair R13 with slide block A4, between the upper connecting rod A5 other end and moving platform 2, is connected by revolute pair R14. The second movement branched chain is made up of lower link B3, slide block B 4 and upper connecting rod B5, between lower link B3 one end and fixed platform 1, is connected by revolute pair R21, and the lower link B3 other end is connected by spherical pair S22 with slide block B 4; Upper connecting rod B5 one end is connected by revolute pair R23 with slide block B 4, between the upper connecting rod B5 other end and moving platform 2, is connected by revolute pair R24. The 3rd movement branched chain is made up of lower link C3, slide block C4 and upper connecting rod C5, between lower link C3 one end and fixed platform 1, is connected by revolute pair R31, and the lower link C3 other end is connected by spherical pair S32 with slide block C4; Upper connecting rod C5 one end is connected by revolute pair R33 with slide block C4, between the upper connecting rod C5 other end and moving platform 2, is connected by revolute pair R34. The 4th movement branched chain is made up of lower link D3, slide block D4 and upper connecting rod D5, between lower link D3 one end and fixed platform 1, is connected by revolute pair R41, and the lower link D3 other end is connected by spherical pair S42 with slide block D4; Upper connecting rod D5 one end is connected by revolute pair R43 with slide block D4, between the upper connecting rod D5 other end and moving platform 2, is connected by revolute pair R44.
In the first movement branched chain, slide block A4 is connected by moving sets P15 with ring-shaped guide rail 6, and slide block A4 can only do circumferential slippage along ring-shaped guide rail 6; In the second movement branched chain, slide block B 4 is connected by moving sets P25 with ring-shaped guide rail 6, and slide block B 4 can only be done circumferential slippage along ring-shaped guide rail 6; In the 3rd movement branched chain, slide block C4 is connected by moving sets P35 with ring-shaped guide rail 6, and slide block C4 can only do circumferential slippage along ring-shaped guide rail 6; In the 4th movement branched chain, slide block D4 is connected by moving sets P45 with ring-shaped guide rail 6, and slide block D4 can only do circumferential slippage along ring-shaped guide rail 6.
The axis of described revolute pair R11, revolute pair R21, revolute pair R31, revolute pair R41 intersects at 1 P; The axis of described revolute pair R13, revolute pair R14, revolute pair R23, revolute pair R24, revolute pair R33, revolute pair R34, revolute pair R43, revolute pair R44 intersects at 1 Q, and some Q does not overlap with described some P. Described ring-shaped guide rail 6 is annular, and its central axis is crossed described some P and put Q.
Embodiment 3
Be the 3rd embodiment disclosed by the invention as shown in Figure 5, Figure 6, a kind of four side chains spraying robot person joint in parallel, mainly comprises fixed platform 1, moving platform 2, ring-shaped guide rail 6, connects four movement branched chain moving, fixed platform. Article four, movement branched chain structure is identical, and wherein the first movement branched chain is made up of lower link A3, slide block A4 and upper connecting rod A5, between lower link A3 one end and fixed platform 1, is connected by revolute pair R11, and the lower link A3 other end is connected by spherical pair S12 with slide block A4; Upper connecting rod A5 one end is connected by spherical pair S13 with slide block A4, between the upper connecting rod A5 other end and moving platform 2, is connected by revolute pair R14. The second movement branched chain is made up of lower link B3, slide block B 4 and upper connecting rod B5, between lower link B3 one end and fixed platform 1, is connected by revolute pair R21, and the lower link B3 other end is connected by spherical pair S22 with slide block B 4; Upper connecting rod B5 one end is connected by spherical pair S23 with slide block B 4, between the upper connecting rod B5 other end and moving platform 2, is connected by revolute pair R24. The 3rd movement branched chain is made up of lower link C3, slide block C4 and upper connecting rod C5, between lower link C3 one end and fixed platform 1, is connected by revolute pair R31, and the lower link C3 other end is connected by spherical pair S32 with slide block C4; Upper connecting rod C5 one end is connected by spherical pair S33 with slide block C4, between the upper connecting rod C5 other end and moving platform 2, is connected by revolute pair R34. The 4th movement branched chain is made up of lower link D3, slide block D4 and upper connecting rod D5, between lower link D3 one end and fixed platform 1, is connected by revolute pair R41, and the lower link D3 other end is connected by spherical pair S42 with slide block D4; Upper connecting rod D5 one end is connected by spherical pair S43 with slide block D4, between the upper connecting rod D5 other end and moving platform 2, is connected by revolute pair R44.
In the first movement branched chain, slide block A4 is connected by moving sets P15 with ring-shaped guide rail 6, and slide block A4 can only do circumferential slippage along ring-shaped guide rail 6; In the second movement branched chain, slide block B 4 is connected by moving sets P25 with ring-shaped guide rail 6, and slide block B 4 can only be done circumferential slippage along ring-shaped guide rail 6; In the 3rd movement branched chain, slide block C4 is connected by moving sets P35 with ring-shaped guide rail 6, and slide block C4 can only do circumferential slippage along ring-shaped guide rail 6; In the 4th movement branched chain, slide block D4 is connected by moving sets P45 with ring-shaped guide rail 6, and slide block D4 can only do circumferential slippage along ring-shaped guide rail 6.
The axis of described revolute pair R11, revolute pair R21, revolute pair R31, revolute pair R41 intersects at 1 P; The axis of described revolute pair R14, revolute pair R24, revolute pair R34, revolute pair R44 intersects at 1 Q, and some Q does not overlap with a described P. Described ring-shaped guide rail 6 is annular, and its central axis is crossed described some P and put Q.
Claims (3)
1. a four side chains spraying robot person joint in parallel, it has fixed platform, moving platform, ring-shaped guide rail, connectsConnect, four movement branched chain of fixed platform, it is characterized in that: four movement branched chain structures are identical, every fortuneMoving side chain is by lower link, slide block and upper connecting rod composition, and lower link one end and fixed platform rotate by fixed platformSecondary connection, the lower link other end is connected by lower revolute pair with slide block, and upper connecting rod one end and moving platform are by movingPlatform revolute pair connects, and the upper connecting rod other end is connected by spherical pair with slide block; Article four, in movement branched chain, fourIndividual fixed platform revolute pair axis and four lower turns auxiliary shaft congruences meet at 1 P, four moving platform revolute pair axisIntersect at 1 Q, some Q does not overlap with described some P; Slide block in every movement branched chain is all logical with ring-shaped guide railCross moving sets and connect, slide block can only do circumferential slippage along ring-shaped guide rail, and ring-shaped guide rail is annular, its centerAxis is crossed described some P and is put Q.
2. a four side chains spraying robot person joint in parallel, it has fixed platform, moving platform, ring-shaped guide rail, connectsConnect, four movement branched chain of fixed platform, it is characterized in that: four movement branched chain structures are identical, every fortuneMoving side chain is by lower link, slide block and upper connecting rod composition, and lower link one end and fixed platform rotate by fixed platformSecondary connection, the lower link other end is connected by spherical pair with slide block, and upper connecting rod one end and moving platform are by moving flatPlatform revolute pair connects, and the upper connecting rod other end is connected by upper revolute pair with slide block; Article four, in movement branched chain, fourThe individual fixed platform turns auxiliary shaft congruence meets at 1 P, four moving platform revolute pair axis and four upper revolute pair axisIntersect at 1 Q, some Q does not overlap with described some P; Slide block in every movement branched chain is all logical with ring-shaped guide railCross moving sets and connect, slide block can only do circumferential slippage along ring-shaped guide rail, and ring-shaped guide rail is annular, its centerAxis is crossed described some P and is put Q.
3. a four side chains spraying robot person joint in parallel, it has fixed platform, moving platform, ring-shaped guide rail, connectsConnect, four movement branched chain of fixed platform, it is characterized in that: four movement branched chain structures are identical, every fortuneMoving side chain is by lower link, slide block and upper connecting rod composition, and lower link one end and fixed platform rotate by fixed platformSecondary connection, the lower link other end is connected by spherical pair with slide block, and upper connecting rod one end and moving platform are by moving flatPlatform revolute pair connects, and the upper connecting rod other end is connected by spherical pair with slide block; Article four, in movement branched chain, fourThe fixed platform turns auxiliary shaft congruence meets at 1 P, and four moving platform turns auxiliary shaft congruences meet at 1 Q, some Q withDescribed some P do not overlap; Slide block in every movement branched chain is all connected by moving sets with ring-shaped guide rail, slide blockCan only do circumferential slippage along ring-shaped guide rail, ring-shaped guide rail is annular, and its central axis is crossed described some P and put Q.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610171008.3A CN105599000A (en) | 2016-03-24 | 2016-03-24 | Four-branch-chain parallel spray robot joint |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610171008.3A CN105599000A (en) | 2016-03-24 | 2016-03-24 | Four-branch-chain parallel spray robot joint |
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| CN105599000A true CN105599000A (en) | 2016-05-25 |
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| CN201610171008.3A Pending CN105599000A (en) | 2016-03-24 | 2016-03-24 | Four-branch-chain parallel spray robot joint |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107414798A (en) * | 2017-09-04 | 2017-12-01 | 中国科学院沈阳自动化研究所 | Two-freedom-degree parallel mechanism |
| CN107932487A (en) * | 2017-12-26 | 2018-04-20 | 燕山大学 | A kind of multistage coupling parallel institution of slide block type |
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| CN107932487A (en) * | 2017-12-26 | 2018-04-20 | 燕山大学 | A kind of multistage coupling parallel institution of slide block type |
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