A reconfigurable parallel robot with mobile auxiliary drive

Abstract

The present invention discloses a reconfigurable parallel robot driven by a mobile pair. By changing the different states of the lockable rotating pair, the parallel robot can switch between three operation modes, which drives the movable platform to move horizontally or rotate, so that the robot can realize processing in a large range. At the same time, the parallel robot is driven by the mobile pair to move in any X / Y direction of the guide rail, so that the parallel robot can move in a large range, thereby improving the working space range and work efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a mobile sub-driven reconfigurable parallel robot. Background Art

[0002] Unlike traditional manufacturing, the production characteristics of aerospace products in multiple varieties and small batches also require robots to have good operational flexibility and scalability. In addition, existing parallel robots used in the aerospace manufacturing field are often used as machine tools in a fixed base mode, with a small accessible workspace and low work efficiency. Therefore, a reconfigurable parallel robot that can achieve large-scale mobile processing is proposed, which is crucial to achieve efficient processing of large and complex structural parts in the aerospace manufacturing field. Summary of the invention

[0003] Purpose of the invention: The purpose of the present invention is to provide a reconfigurable parallel robot driven by a moving pair, so that the reconfigurable parallel robot has a large moving range driven by the moving pair and has multiple operation modes to achieve efficient processing.

[0004] Technical solution: The present invention provides a reconfigurable parallel robot driven by a moving pair, comprising a frame and a moving platform, wherein the frame and the moving platform are connected via three kinematic branches of the same structure, and the kinematic branches are connected in parallel; each kinematic branch comprises a Hooke's joint, a lockable ball joint, and a moving pair; the kinematic branch is hinged to the moving platform via a Hooke's joint, and the lockable ball joint is fixedly connected to the moving pair; the lockable ball joint comprises three lockable rotating pairs of the same structure, and the lockable rotating pairs are orthogonally connected to each other;

[0005] The frame comprises an X-direction guide rail and a Y-direction guide rail, the X-direction guide rail and the Y-direction guide rail are vertically crossed and evenly distributed, and the top surfaces of the X-direction guide rail and the Y-direction guide rail are both provided with racks extending along the extension direction of each guide rail;

[0006] The moving pair comprises an X-direction motor and a Y-direction motor arranged orthogonally, and an X-direction gear is installed at the output end of the X-direction motor; a Y-direction gear is installed at the output end of the Y-direction motor; the axis of the output end of the X-direction motor is perpendicular to the axis of the output end of the Y-direction motor, when the X-direction gear is meshed with the rack of the X-direction guide rail, the Y-direction gear is suspended; when the Y-direction gear is meshed with the rack of the Y-direction guide rail, the X-direction gear is suspended;

[0007] The intersection of the X-direction guide rail and the Y-direction guide rail is a reversing position, and a groove is arranged at the reversing position, which cuts off the X-direction guide rail and the Y-direction guide rail. When the moving pair moves to the reversing position, the X-direction gear contacts the end of the X-direction guide rail, and the Y-direction gear contacts the end of the Y-direction guide rail.

[0008] Furthermore, the lockable ball joint includes three lockable rotating pairs with the same structure and orthogonal distribution, namely the first lockable rotating pair, the second lockable rotating pair, and the third lockable rotating pair. The lockable rotating pairs all include a motor, a chuck wrench, and a three-jaw chuck. One end of the chuck wrench is fixed in the square hole of the gear of the three-jaw chuck. When the motor rotates, it drives the chuck wrench to rotate, and the three-jaw chuck approaches or disperses at the same time, and the lockable rotating pairs are correspondingly in a locked or released state.

[0009] Furthermore, by driving the three motion branches through different states of the lockable rotating pair, the reconfigurable parallel robot has three corresponding operation modes. By engaging the moving pair with the rack inside the guide rail, the reconfigurable parallel robot has six corresponding motion modes, that is, there are six motion modes in each operation mode.

[0010] Furthermore, the robot has six motion modes, and three motion branches are respectively the first motion branch, the second motion branch, and the third motion branch. The six motion modes are respectively:

[0011] The three motion branches all move along the Y-direction guide rail;

[0012] The three motion branches all move along the X-direction guide rail;

[0013] The first motion branch chain moves along the X-direction guide rail, and the second motion branch chain and the third motion branch chain both move along the Y-direction guide rail;

[0014] The first motion branch chain moves along the Y-direction guide rail, and the second motion branch chain and the third motion branch chain both move along the X-direction guide rail;

[0015] The first motion branch chain and the third motion branch chain both move along the Y-direction guide rail, and the second motion branch chain moves along the X-direction guide rail;

[0016] The first motion branch chain and the second motion branch chain both move along the X-direction guide rail, and the third motion branch chain moves along the Y-direction guide rail.

[0017] Furthermore, the three operation modes are:

[0018] (1) All lockable revolving pairs are in the released state. The reconfigurable parallel robot has six degrees of freedom and no geometric constraints.

[0019] (2) Locking the first lockable rotation pair or the second lockable rotation pair, the reconfigurable parallel robot has 3- P RS parallel mechanism form, in which, P It indicates the driving of the translation pair, R indicates the rotation pair, and S indicates the ball joint;

[0020] (3) Locking the third lockable rotation pair, the reconfigurable parallel robot has 3- PUU parallel mechanism morphology, where U represents Hooke's joint.

[0021] Further, the X-direction guide rail is provided with a downwardly recessed X-direction guide groove on both sides of the X-direction guide rail rack, and the extension direction of the X-direction guide groove is the same as the extension direction of the X-direction guide rail rack; the Y-direction guide rail is provided with a downwardly recessed Y-direction guide groove on both sides of the Y-direction guide rail rack, and the extension direction of the Y-direction guide groove is the same as the extension direction of the Y-direction guide rack; four downwardly protruding guide blocks are provided at the bottom of the moving pair, and a cross-shaped gap is formed between the four guide blocks; when the moving pair moves on the X-direction guide rail, the four guide blocks are located in the X-direction guide groove, and the X-direction guide rack is located in the cross-shaped gap; when the moving pair moves on the Y-direction guide rail, the four guide blocks are located in the Y-direction guide groove, and the Y-direction guide rack is located in the cross-shaped gap.

[0022] Beneficial effect: Compared with the prior art, the present invention has the remarkable feature of driving the parallel robot to move in any X / Y direction of the guide rail through the mobile pair, so that the parallel robot can achieve a large range of movement. At the same time, by changing the different states of the lockable rotating pair, the parallel robot can switch between three operating modes. At this time, the moving platform is driven to move horizontally or rotate, so that the robot can process in a large range, thereby improving the working space range and work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the structure of the present invention;

[0024] Figure 2 It is a diagram of the coordination between the X-direction gear and the X-direction guide rack in the moving pair of the present invention;

[0025] Figure 3 It is a schematic diagram of the frame structure in the present invention;

[0026] Figure 4 It is a schematic diagram of the state when the gear and the rack are in contact with each other in the present invention;

[0027] Figure 5 It is a schematic diagram of the mobile sub structure in the present invention;

[0028] Figure 6 It is a schematic diagram of six kinds of motion modes in the present invention;

[0029] Figure 7 It is a schematic diagram of the lockable rotating pair structure in the present invention. DETAILED DESCRIPTION

[0030] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0031] The present invention provides a reconfigurable parallel robot driven by a mobile pair, see Figure 1As shown, it includes a frame 1 and a moving platform 5. The frame 1 and the moving platform 5 are connected by three kinematic branches with the same structure. The kinematic branches are connected in parallel, namely a first kinematic branch 2, a second kinematic branch 3, and a third kinematic branch 4. Each kinematic branch includes a Hooke's hinge 40, a lockable ball joint 50, and a moving pair. The kinematic branch is hinged to the moving platform 5 through the Hooke's hinge 40, and the lockable ball joint 50 is fixedly connected to the moving pair.

[0032] See also Figure 3 As shown, the frame 1 includes an X-direction guide rail and a Y-direction guide rail. The X-direction guide rail and the Y-direction guide rail are vertically crossed and evenly distributed. The top surfaces of the X-direction guide rail and the Y-direction guide rail are both provided with racks 7 extending along the extension direction of each guide rail.

[0033] See also Figure 1 As shown, the Hooke's joint 40 includes two orthogonally arranged revolute pairs, namely an upper revolute pair and a lower revolute pair. The upper revolute pair is fixedly connected to the moving platform 5, and the lower revolute pair is hinged to the upper revolute pair. The Hooke's joint of the first moving branch chain 2 includes two axes, namely a first axis 2D and a second axis 2E; the Hooke's joint of the second moving branch chain 3 includes two axes, namely a first axis 3D and a second axis 3E; the Hooke's joint of the third moving branch chain 4 includes two axes, namely a first axis 4D and a second axis 4E; the second axis 3E is parallel to the second axis 4E, and both are perpendicular to the second axis 2E.

[0034] See also Figure 1 and Figure 2 Combined with Figure 5 As shown, the moving pairs are respectively a first moving pair 6A, a second moving pair 6B, and a third moving pair 6C. Taking the first moving pair 6A as an example, it comprises an X-direction motor 80 and a Y-direction motor 81 which are arranged orthogonally, and an X-direction gear 90 is installed at the output end of the X-direction motor 80; a Y-direction gear 91 is installed at the output end of the Y-direction motor; the axis of the output end of the X-direction motor 80 is perpendicular to the axis of the output end of the Y-direction motor 81, when the X-direction gear 90 is engaged with the rack of the X-direction guide rail, the Y-direction gear 91 is suspended; when the Y-direction gear 91 is engaged with the rack of the Y-direction guide rail, the X-direction gear 90 is suspended.

[0035] See also Figure 3 and Figure 4 As shown, the intersection of the X-direction guide rail and the Y-direction guide rail is the reversing position, and a groove is set at the reversing position, which cuts off the X-direction guide rail and the Y-direction guide rail. When the moving pair moves to the reversing position, the X-direction gear contacts the end of the X-direction guide rail, and the Y-direction gear contacts the end of the Y-direction guide rail.

[0036] See also Figure 3 and Figure 4 Combined with Figure 5As shown, the X-direction guide rail is provided with a downwardly recessed X-direction guide groove 71 on both sides of the X-direction guide rail rack, and the extension direction of the X-direction guide groove 71 is the same as the extension direction of the X-direction guide rail rack; the Y-direction guide rail is provided with a downwardly recessed Y-direction guide groove 72 on both sides of the Y-direction guide rail rack, and the extension direction of the Y-direction guide groove 72 is the same as the extension direction of the Y-direction guide rack; four downwardly protruding guide blocks 73 are provided at the bottom of the moving pair, and a cross-shaped gap is formed between the four guide blocks 73; when the moving pair moves on the X-direction guide rail, the four guide blocks 73 are located in the X-direction guide groove, and the X-direction guide rack is located in the cross-shaped gap; when the moving pair moves on the Y-direction guide rail, the four guide blocks are located in the Y-direction guide groove, and the Y-direction guide rack is located in the cross-shaped gap.

[0037] The lockable ball joint includes three lockable rotating pairs with the same structure, and the lockable rotating pairs are orthogonally connected to each other, namely the first lockable rotating pair, the second lockable rotating pair, and the third lockable rotating pair. The lockable rotating pairs each include a motor, a chuck wrench, and a three-jaw chuck. One end of the chuck wrench is fixed in the square hole of the gear of the three-jaw chuck. When the motor rotates, it drives the chuck wrench to rotate, and the three-jaw chuck approaches or disperses at the same time, and the lockable rotating pairs are correspondingly in a locked or released state.

[0038] See also Figure 7 As shown, taking the second motion branch chain 3 as an example, the lockable ball joint in the second motion branch chain 3 includes three lockable rotating pairs, namely the first lockable rotating pair 3A, the second lockable rotating pair 3B, and the third lockable rotating pair 3C, wherein the third lockable rotating pair 3C is arranged orthogonally to the first lockable rotating pair 3A and the second lockable rotating pair 3B, respectively, and is fixed in the motion branch chain. Taking the first lockable rotating pair 3A as an example, the first lockable rotating pair 3A includes a motor 10, a chuck wrench 11, and a three-jaw chuck 12. One end of the chuck wrench 11 is fixed in the square hole of the gear of the three-jaw chuck, and the other end of the chuck wrench 11 is fixedly connected to the motor 10. When the motor 10 is working, it drives the chuck wrench 11 to rotate, and the three-jaw chuck 12 approaches or disperses at the same time. At this time, the first lockable rotating pair 3A is correspondingly in a locked or released state.

[0039] Similarly, the lockable ball joint in the first motion branch chain 2 includes three lockable rotating pairs, namely the first lockable rotating pair 2A, the second lockable rotating pair 2B, and the third lockable rotating pair 2C. The third lockable rotating pair 2C is arranged orthogonally to the first lockable rotating pair 2A and the second lockable rotating pair 2B, respectively, and is fixed in the motion branch chain; the lockable ball joint in the third motion branch chain 4 includes three lockable rotating pairs, namely the first lockable rotating pair 4A, the second lockable rotating pair 4B, and the third lockable rotating pair 4C. The third lockable rotating pair 4C is arranged orthogonally to the first lockable rotating pair 4A and the second lockable rotating pair 4B, respectively, and is fixed in the motion branch chain; both are rotated by the motor-driven chuck wrench, so that the three-jaw chuck approaches or disperses at the same time, and the lockable rotating pairs are correspondingly in a locked or released state; at the same time, the axis of the first lockable rotating pair 3A is parallel to the axis of the first lockable rotating pair 4A, and both axes are perpendicular to the axis of the first lockable rotating pair 2A.

[0040] By driving the three motion branches through different states of the lockable rotating pair, the reconfigurable parallel robot has three corresponding operation modes. By engaging the moving pair with the rack inside the guide rail, the reconfigurable parallel robot has six corresponding motion modes, that is, there are six motion modes in each operation mode.

[0041] Therefore, the lockable ball joint on the second motion branch can realize different steering and movement and three different operation modes of the second motion branch according to the different states of the lockable revolving pair. Similarly, the first motion branch and the third motion branch can also realize different steering and movement and three different operation modes, thereby enabling the reconfigurable parallel robot to realize three operation modes and six motion modes.

[0042] See also Figure 6 As shown, the six types of exercise are:

[0043] The three motion branches all move along the Y-direction guide rail;

[0044] The three motion branches all move along the X-direction guide rail;

[0045] The first motion branch chain moves along the X-direction guide rail, and the second motion branch chain and the third motion branch chain both move along the Y-direction guide rail;

[0046] The first motion branch chain moves along the Y-direction guide rail, and the second motion branch chain and the third motion branch chain both move along the X-direction guide rail;

[0047] The first motion branch chain and the third motion branch chain both move along the Y-direction guide rail, and the second motion branch chain moves along the X-direction guide rail;

[0048] The first motion branch chain and the second motion branch chain both move along the X-direction guide rail, and the third motion branch chain moves along the Y-direction guide rail.

[0049] The three operation modes are:

[0050] (1) All lockable revolving pairs are in the released state. The reconfigurable parallel robot has six degrees of freedom and no geometric constraints.

[0051] (2) When the first lockable rotational pair or the second lockable rotational pair on all the kinematic branches is locked at the same time, that is, the first lockable rotational pair 2A, the first lockable rotational pair 3A, the first lockable rotational pair 4A, or the second lockable rotational pair 2B, the second lockable rotational pair 3B, the second lockable rotational pair 4B, and is in a locked state, the reconfigurable parallel robot has 3- P RS parallel mechanism form, in which, P It represents the translation pair drive, R represents the rotation pair, and S represents the ball joint.

[0052] For the convenience of distinction, when the first lockable rotational pair 2A, the first lockable rotational pair 3A, and the first lockable rotational pair 4A are in a locked state, the mode of the reconfigurable parallel robot is called 3- P RSa parallel mechanism; when the second lockable rotating pair 2B, the second lockable rotating pair 3B, and the second lockable rotating pair 4B are in the locked state, the mode of the reconfigurable parallel robot is called 3- P RSb parallel mechanism.

[0053] (3) When the third lockable rotational pair on all the kinematic branches is locked at the same time, and the third lockable rotational pair 2C, the third lockable rotational pair 3C, and the third lockable rotational pair 4C are all in a locked state, the reconfigurable parallel robot has 3- P The UU parallel mechanism form can realize 3T motion, where U represents Hooke's joint.

[0054] Therefore, the reconfigurable parallel robot has three operating modes, and each of the three operating modes has six motion modes. The driving pair of the reconfigurable parallel robot is the mobile pair in each motion branch, and the driving mode is the gear rack driven by the motor in the mobile pair; thereby driving the reconfigurable parallel robot to switch between multiple operating modes and motion modes, and at the same time driving the moving platform to achieve rotation and translation.

Claims

1. A reconfigurable parallel robot driven by a mobile pair, characterized in that: It comprises a frame and a moving platform, wherein the frame and the moving platform are connected via three kinematic branches with the same structure, and the kinematic branches are connected in parallel; each kinematic branch comprises a Hooke's hinge, a lockable ball joint, and a moving pair; the kinematic branch is hinged to the moving platform via a Hooke's hinge, and the lockable ball joint is fixedly connected to the moving pair; the lockable ball joint comprises three lockable rotating pairs with the same structure, and the lockable rotating pairs are mutually orthogonally connected; The frame comprises an X-direction guide rail and a Y-direction guide rail, the X-direction guide rail and the Y-direction guide rail are vertically crossed and evenly distributed, and the top surfaces of the X-direction guide rail and the Y-direction guide rail are both provided with racks extending along the extension direction of each guide rail; The moving pair comprises an X-direction motor and a Y-direction motor arranged orthogonally, and an X-direction gear is installed at the output end of the X-direction motor; a Y-direction gear is installed at the output end of the Y-direction motor; the axis of the output end of the X-direction motor is perpendicular to the axis of the output end of the Y-direction motor, when the X-direction gear is meshed with the rack of the X-direction guide rail, the Y-direction gear is suspended; when the Y-direction gear is meshed with the rack of the Y-direction guide rail, the X-direction gear is suspended; The intersection of the X-direction guide rail and the Y-direction guide rail is a reversing position, and a groove is provided at the reversing position, and the groove cuts off the X-direction guide rail and the Y-direction guide rail. When the moving pair moves to the reversing position, the X-direction gear contacts the end of the X-direction guide rail, and the Y-direction gear contacts the end of the Y-direction guide rail at the same time; The lockable ball joint comprises three lockable rotating pairs with the same structure and orthogonal distribution, namely the first lockable rotating pair, the second lockable rotating pair and the third lockable rotating pair. The lockable rotating pairs all comprise a motor, a chuck wrench and a three-jaw chuck. One end of the chuck wrench is fixed in the square hole of the gear of the three-jaw chuck. When the motor rotates, the chuck wrench is driven to rotate, and the three-jaw chuck approaches or separates at the same time, and the lockable rotating pair is in a locked or released state accordingly. By driving the three motion branches through different states of the lockable rotating pair, the reconfigurable parallel robot has three corresponding operation modes. By engaging the moving pair with the rack inside the guide rail, the reconfigurable parallel robot has six corresponding motion modes, that is, there are six motion modes in each operation mode. The robot has six motion modes, with three motion branches, namely the first motion branch, the second motion branch, and the third motion branch. The six motion modes are: The three motion branches all move along the Y-direction guide rail; The three motion branches all move along the X-direction guide rail; The first motion branch chain moves along the X-direction guide rail, and the second motion branch chain and the third motion branch chain both move along the Y-direction guide rail; The first motion branch chain moves along the Y-direction guide rail, and the second motion branch chain and the third motion branch chain both move along the X-direction guide rail; The first motion branch chain and the third motion branch chain both move along the Y-direction guide rail, and the second motion branch chain moves along the X-direction guide rail; The first motion branch chain and the second motion branch chain both move along the X-direction guide rail, and the third motion branch chain moves along the Y-direction guide rail; The three operation modes are: (1) All lockable revolving pairs are in the released state. The reconfigurable parallel robot has six degrees of freedom and no geometric constraints. (2) Locking the first lockable rotation pair or the second lockable rotation pair, the reconfigurable parallel robot has 3- P RS parallel mechanism form, in which, P It indicates the driving of the translation pair, R indicates the rotation pair, and S indicates the ball joint; (3) Locking the third lockable rotation pair, the reconfigurable parallel robot has 3- P UU parallel mechanism form, where U represents Hooke's joint; The X-direction guide rail is provided with downwardly concave X-direction guide grooves on both sides of the X-direction guide rail rack, and the extension direction of the X-direction guide groove is the same as the extension direction of the X-direction guide rail rack; the Y-direction guide rail is provided with downwardly concave Y-direction guide grooves on both sides of the Y-direction guide rail rack, and the extension direction of the Y-direction guide groove is the same as the extension direction of the Y-direction guide rail rack; the bottom of the moving pair is provided with four downwardly protruding guide blocks, and a cross-shaped gap is formed between the four guide blocks; when the moving pair moves on the X-direction guide rail, the four guide blocks are located in the X-direction guide grooves, and the X-direction guide rack is located in the cross-shaped gap; when the moving pair moves on the Y-direction guide rail, the four guide blocks are located in the Y-direction guide grooves, and the Y-direction guide rack is located in the cross-shaped gap.

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