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    • 专利摘要:
    An over-constrained few-joint five-degree-of-freedom hybrid robot includes a fixed platform (11), vertical frames (10), a single-rotation-pair rotating frame (8), a double-rotation-pair rotating frame (6), a movable platform (3), a working platform (1), three branch chains (4, 5 and 9) of the same structure and a two-degree-of-freedom posture adjustment head (2). The working platform (1) is disposed in front of the fixed platform (11), and the vertical frames (10) are symmetrically disposed on two sides of the fixed platform (11). The three branch chains (4, 5 and 9) are disposed between two vertical frames (10) and the movable platform (3), and the two-degree-of-freedom posture adjustment head (2) is disposed at the lower end of the movable platform (3). A two-rotating and one-translating three-degree-of-freedom parallel mechanism is formed by the vertical frames (10), the movable platform (3) and the three branch chains (4, 5 and 9). The over-constrained few-joint five-degree-of-freedom hybrid robot is simple in structure, high in integral rigidity, low in control difficulty, simple in kinematics analysis and quick in dynamic response. By means of combination of a two-degree-of-freedom posture adjustment head and the movable platform (3), the working space of a machine tool is enlarged, the dexterousness of the machine tool is improved, and error accumulation caused by a component machining error and an assembly error is effectively avoided.
    公开号:EP3708306A1
    申请号:EP18876829.5
    申请日:2018-11-08
    公开日:2020-09-16
    发明作者:Yongsheng Zhao；Guang MENG；Dongsheng Zhang；Yundou XU；Lijie GUO；Yi YUE；Yulin ZHOU；Jiantao Yao；Mingfang Liu；Fan Yang
    申请人:Yanshan University；Shanghai Aerospace Equipments Manufacturer Co Ltd；
    IPC主号:B25J9-00
    专利说明:
    [0001] The present invention belongs to the field of industrial robots, and particularly relates to a hybrid robot. BACKGROUND
    [0002] As an indispensable part of industrial production, robots have been widely used in such industries of automotive industry, automatic production lines and aerospace. The robot technology can be applied to the fields of curved-surface machining, handling, spraying, assembling, etc., and thus has a bright application prospect. A hybrid robot integrates the characteristics of a compact structure and high rigidity of a parallel mechanism, as well as excellent flexibility and large working space of a serial structure, and thus, it has received extensive attention and research, and has become a hot spot in the field of robot research.
    [0003] A five-degree-of-freedom hybrid robot constructed based on a 2R1T parallel mechanism has high modularity, simple kinematic models and quick dynamic response, and thus, has a bright application prospect. However, the current Tricept five-degree-of-freedom hybrid robot has the disadvantages of high processing and manufacturing cost, high assembly difficulty, etc. due to its complicated structure and massive branches. A (2T1R) & (1T1R) five-degree-of-freedom decoupling hybrid mechanism disclosed by the patent application number CN105563461A has a complicated branch chain configuration and a large number of joints, and as a result, it is difficult to guarantee the overall rigidness of a hybrid robot employing the mechanism. SUMMARY
    [0004] An objective of the present invention is to provide an over-constrained few-joint five-degree-of-freedom hybrid robot, which has high modularity, fewer components, high rigidity and high bearing capacity and is easy to manufacture and convenient to calibrate.
    [0005] The over-constrained few-joint five-degree-of-freedom hybrid robot is constituted by a two-rotating and one-translating three-degree-of-freedom parallel mechanism and a two-degree-of-freedom posture adjustment head serially connected to the two-rotating and one-translating three-degree-of-freedom parallel mechanism, and includes a fixed platform, vertical frames, a single-rotation-pair rotating frame, a double-rotation-pair rotating frame, a movable platform, a working platform, three branch chains of the same structure and the two-degree-of-freedom posture adjustment head. The working platform is disposed in front of the fixed platform. The vertical frames are symmetrically disposed on two sides of the fixed platform. The three branch chains are disposed between two vertical frames and the movable platform. The two-degree-of-freedom posture adjustment head is disposed at the lower end of the movable platform. The two-rotating and one-translating three-degree-of-freedom parallel mechanism is formed by the vertical frames, the movable platform and the three branch chains.
    [0006] Each of the three branch chains of the same structure includes a servo motor, a servo motor base, a coupling, a lock nut, a lead screw, a bearing, a bearing end cap, a lead screw nut, a connecting rod sleeve, a connecting rod, guide rails, sliders and slider caps. The servo motor base with the servo motor disposed thereon is disposed at the top of one end of the connecting rod sleeve. In the connecting rod sleeve, an output end of the servo motor is connected to one end of the lead screw by the coupling. The lead screw nut mounted to one end of the connecting rod is disposed on the lead screw. An effective stroke part of the lead screw cooperates with the lead screw nut. The lead screw is supported by the bearing disposed at the bottom of the servo motor base. An inner ring of the bearing is locked by the lock nut. The bearing end cap is disposed on an inner side of the servo motor base and configured to secure an outer ring of the bearing. The other ends of the connecting rods of a first branch chain and a second branch chain are connected to the movable platform by two-degree-of-freedom Hooke joints respectively. The other end of the connecting rod of a third branch chain is connected to the movable platform by a rotation pair. Parallel guide rails are disposed on two sides of the connecting rod. The sliders are disposed on the guide rails. A group of slider caps are symmetrically disposed on two sides of the lower part of the other end of the connecting rod sleeve. The slider cap is mounted to an end cap mounting surface of the connecting rod sleeve. The sliders are mounted to inner sides of the slider caps and are capable of sliding along the guide rails that are parallelly disposed on the two sides of the connecting rod, such that the connecting rod sleeve and the connecting rod constitute a prismatic pair. A dustproof end cap is disposed at the end part of the other end of the connecting rod sleeve.
    [0007] A group of corresponding motion-pair supports that are fixedly connected to the vertical frames are disposed at the tops and in the middle of the two vertical frames. The double-rotation-pair rotating frame is disposed between the group of motion-pair supports disposed at the tops of the vertical frames. The single-rotation-pair rotating frame is disposed between the group of motion-pair supports disposed in the middle of the two vertical frames. The double-rotation-pair rotating frame and the single-rotation-pair rotating frame are connected to the motion-pair supports by rotation pairs. One ends of the connecting rod sleeves of the first branch chain and the second branch chain respectively pass through through-holes in the double-rotation-pair rotating frame and are connected to the double-rotation-pair rotating frame by rotation pairs, and axes of the rotation pairs perpendicularly intersect an axis of the rotation pair between the double-rotation-pair rotating frame and the motion-pair support. One end of the connecting rod sleeve of the third branch chain passes through a through-hole in the single-rotation-pair rotating frame to be connected to the single-rotation-pair rotating frame by a rotation pair, and an axis of the rotation pair perpendicularly intersects an axis of the rotation pair between the single-rotation-pair rotating frame and the motion-pair support.
    [0008] The axes of the two rotation pairs between the connecting rod sleeves in the first branch chain and the second branch chain and the double-rotation-pair rotating frame are parallel to each other and are also parallel to an axis of a Hooke joint close to the connecting rod and perpendicular to an axis of the prismatic pair, and axes of the two Hooke joints close to the movable platform are overlapping. An axis of a rotation pair between the lower end of the connecting rod in the third branch chain and the movable platform is parallel to an axis of the prismatic pair in the third branch chain and is perpendicular to the movable platform.
    [0009] Compared with the existing technologies, the present invention has the following advantages.1. The structure is simple and the parallel part only has 10 joints, facilitating improvement of the overall rigidity. 2. The parallel part is a 2R1T parallel mechanism having successive rotating axes, and two rotation degrees of freedom are partially decoupled, helping to reduce the difficulty in control. 3. An arrangement plane of the first branch chain coincides with that of the second branch chain and is perpendicular to that of the third branch chain, and the third branch chain is directly connected to the movable platform. Therefore, kinematic analysis is simple and calibration is facilitated. 4. The position adjustment capability of the parallel mechanism and the posture adjustment capability of the two-degree-of-freedom posture adjustment head are combined to facilitate enlarging the flexible working space of the five-degree-of-freedom hybrid robot. 5. The five-degree-of-freedom hybrid robot has high modularity and a compact structure, and is convenient for assembly, maintenance and replacement. BRIEF DESCRIPTION OF THE DRAWINGS
    [0010] FIG. 1 is a schematic diagram of an overall structure according to the present invention; FIG. 2 is a schematic structural diagram of a first branch chain and a second branch chain according to the present invention; FIG. 3 is a schematic structural diagram of a third branch chain according to the present invention.
    [0011] Reference numbers in the drawings are described as below: 1-working platform; 2-two-degree-of-freedom posture adjustment head; 3-movable platform; 4-first branch chain; 5-second branch chain; 6-double-rotation-pair rotating frame; 7-motion-pair support; 8-single-rotation-pair rotating frame; 9-third branch chain; 10-vertical frame; 11-fixed platform; 12-servo motor; 13-coupling; 14-servo motor base; 15-bearing end cap; 16-lock nut; 17-bearing: 18-lead screw nut; 19-lead screw; 20-slider; 21-connecting rod; 22-guide rail; 23-connecting rod sleeve; 24-dustproof end cap; 25-slider cap; 26-Hooke joint. DETAILED DESCRIPTION
    [0012] FIG. 1 is a schematic diagram of an over-constrained few-joint five-degree-of-freedom hybrid robot. In this schematic diagram, a working platform 1 is disposed in front of a fixed platform 11; vertical frames 10 are symmetrically disposed on two sides of the fixed platform; three branch chains are disposed between the two vertical frames and a movable platform 3; a two-degree-of-freedom posture adjustment head 2 is disposed at the lower end of the movable platform; and a two-rotating and one-transtating three-degree-of-freedom parallel mechanism is formed by the vertical frames, the movable platform and the three branch chains.
    [0013] As shown in FIG. 2 and FIG. 3, a servo motor base 14 with a servo motor 12 disposed thereon is disposed at the top of one end of the connecting rod sleeve 23; in the connecting rod sleeve, an output end of the servo motor is connected to one end of a lead screw 19 by a coupling 13; a lead screw nut 18 mounted to one end of a connecting rod 21 is disposed on the lead screw; an effective stroke part of the lead screw cooperates with the lead screw nut; the lead screw is supported by a bearing 17 disposed at the bottom of the servo motor base; an inner ring of the bearing is locked by a lock nut 16; a bearing end cap 15 is disposed on an inner side of the servo motor base and configured to secure an outer ring of the bearing; the other ends of the connecting rods of a first branch chain 4 and a second branch chain 5 are connected to the movable platform by two-degree-of-freedom Hooke joints 26 respectively; the other end of the connecting rod of a third branch chain 9 is connected to the movable platform by a rotation pair; parallel guide rails 22 are disposed on two sides of the connecting rod; sliders 20 are disposed on the guide rails; a group of slider caps 25 are symmetrically disposed on two sides of the other end of the connecting rod sleeve; the slider cap is mounted to an end cap mounting surface of the connecting rod sleeve; the sliders are mounted to inner sides of the slider caps and are capable of sliding along the guide rails that are parallelly disposed on the two sides of the connecting rod, such that the connecting rod sleeve and the connecting rod constitute a prismatic pair; and a dustproof end cap 24 is disposed at the end part of the other end of the connecting rod sleeve.
    [0014] A group of corresponding motion-pair supports 7 that are fixedly connected to the vertical frames are disposed at the tops and in the middle of the two vertical frames. A double-rotation-pair rotating frame 6 is disposed between the group of motion-pair supports disposed at the tops of the vertical frames. A single-rotation-pair rotating frame 8 is disposed between the group of motion-pair supports disposed in the middle of the two vertical frames. The double-rotation-pair rotating frame and the single-rotation-pair rotating frame are connected to the motion-pair supports by rotation pairs. One ends of the connecting rod sleeves of the first branch chain and the second branch chain respectively pass through through-holes in the double-rotation-pair rotating frame and are connected to the double-rotation-pair rotating frame by rotation pairs, and axes of the rotation pairs perpendicularly intersect an axis of the rotation pair between the double-rotation-pair rotating frame and the motion-pair support. One end of the connecting rod sleeve of the third branch chain passes through a through-hole in the single-rotation-pair rotating frame to be connected to the single-rotation-pair rotating frame by a rotation pair, and the axis of the rotation pair perpendicularly intersects an axis of the rotation pair between the single-rotation-pair rotating frame and the motion-pair support.
    [0015] The axes of the two rotation pairs between the connecting rod sleeves in the first branch chain and the second branch chain and the double-rotation-pair rotating frame are parallel to each other, and are also parallel to an axis of a Hooke joint close to the connecting rod and perpendicular to an axis of the prismatic pair. Axes of the two Hooke joints close to the movable platform are overlapping. An axis of a rotation pair between the lower end of the connecting rod in the third branch chain and the movable platform is parallel to an axis of the prismatic pair in the third branch chain and is perpendicular to the movable platform.
    [0016] The above described is only preferred embodiments of the present invention, and is not intended to limit the present invention in any form. Any person of ordinary skill in the art can successfully implement the present invention as shown in the accompanying drawings and described above. However, all equivalent changes, modifications, and evolutions made by those skilled in the art using the technical content disclosed above without departing from the scope of the technical solution of the present invention are equivalent embodiments of the present invention. At the same time, any equivalent changes, modifications, and evolutions made to the above embodiments according to the essential technology of the present invention still fall within the protection scope of the technical solution of the present invention.
    权利要求:
    Claims (3)
    [0001] An over-constrained few-joint five-degree-of-freedom hybrid robot, comprising: a fixed platform, vertical frames, a single-rotation-pair rotating frame, a double-rotation-pair rotating frame, a movable platform, a working platform, three branch chains of the same structure and a two-degree-of-freedom posture adjustment head, wherein the working platform is disposed in front of the fixed platform; the vertical frames are symmetrically disposed on two sides of the fixed platform; the three branch chains are disposed between the two vertical frames and the movable platform; the two-degree-of-freedom posture adjustment head is disposed at the lower end of the movable platform; a two-rotating and one-translating three-degree-of-freedom parallel mechanism is formed by the vertical frames, the movable platform and the three branch chains;each of the three branch chains of the same structure comprises a servo motor, a servo motor base, a coupling, a lock nut, a lead screw, a bearing, a bearing end cap, a lead screw nut, a connecting rod sleeve, a connecting rod, guide rails, sliders and slider caps, wherein the servo motor base with the servo motor disposed thereon is disposed at the top of one end of the connecting rod sleeve; in the connecting rod sleeve, an output end of the servo motor is connected to one end of the lead screw by the coupling; the lead screw nut mounted to one end of the connecting rod is disposed on the lead screw; an effective stroke part of the lead screw cooperates with the lead screw nut; the lead screw is supported by the bearing disposed at the bottom of the servo motor base; an inner ring of the bearing is locked by the lock nut; the bearing end cap is disposed on an inner side of the servo motor base and configured to secure an outer ring of the bearing; the other ends of the connecting rods of a first branch chain and a second branch chain are connected to the movable platform by two-degree-of-freedom Hooke joints respectively; the other end of the connecting rod of a third branch chain is connected to the movable platform by a rotation pair; parallel guide rails are disposed on two sides of the connecting rod; the sliders are disposed on the guide rails; a group of slider caps are symmetrically disposed on two sides of the lower part of the other end of the connecting rod sleeve; the slider cap is mounted to an end cap mounting surface of the connecting rod sleeve; the sliders are mounted to inner sides of the slider caps and are capable of sliding along the parallel guide rails on the two sides of the connecting rod, such that the connecting rod sleeve and the connecting rod constitute a prismatic pair; a dustproof end cap is disposed at the end part of the other end of the connecting rod sleeve;a group of corresponding motion-pair supports that are fixedly connected to the vertical frames are disposed at the tops and in the middle of the two vertical frames; the double-rotation-pair rotating frame is disposed between the group of motion-pair supports disposed at the tops of the vertical frames; the single-rotation-pair rotating frame is disposed between the group of motion-pair supports disposed in the middle of the two vertical frames; the double-rotation-pair rotating frame and the single-rotation-pair rotating frame are connected to the motion-pair supports by rotation pairs; one ends of the connecting rod sleeves of the first branch chain and the second branch chain respectively pass through through-holes in the double-rotation-pair rotating frame and are connected to the double-rotation-pair rotating frame by rotation pairs, and axes of the rotation pairs perpendicularly intersect an axis of the rotation pair between the double-rotation-pair rotating frame and the motion-pair support; and one end of the connecting rod sleeve of the third branch chain passes through a through-hole in the single-rotation-pair rotating frame to be connected to the single-rotation-pair rotating frame by a rotation pair, and the axis of the rotation pair perpendicularly intersects an axis of the rotation pair between the single-rotation-pair rotating frame and the motion-pair support.
    [0002] The over-constrained few-joint five-degree-of-freedom hybrid robot according to claim 1, wherein axes of the two rotation pairs between the connecting rod sleeves in the first branch chain and the second branch chain and the double-rotation-pair rotating frame are parallel to each other and are also parallel to an axis of a Hooke joint close to the connecting rod and perpendicular to an axis of the prismatic pair, and axes of the two Hooke joints close to the movable platform are overlapping.
    [0003] The over-constrained few-joint five-degree-of-freedom hybrid robot according to claim 1, wherein an axis of the rotation pair between the lower end of the connecting rod in the third branch chain and the movable platform is parallel to an axis of the prismatic pair in the third branch chain and is perpendicular to the movable platform.
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