A multi-degree-of-freedom hybrid serial-parallel dexterous robot

Abstract

The invention relates to a multi-degree-of-freedom hybrid flexible robot, comprising: a robot base, a first base, and one end of a second base is connected with a driving arm having multiple degrees of freedom; two first driving branches and two second driving branches of a driving chain are arranged on both sides of a passive branch; the bottom end of the passive branch forms a universal hinge with the robot base, and the top end is connected with the first base; the bottom end of the first driving branch forms a universal hinge with the robot base, and the top end forms a spherical pair with the first base, the bottom end of the second driving branch forms a universal hinge with the robot base, and the top end forms a spherical pair with the second base; the first driving branch and the second driving branch expand and contract along their respective axes; wherein, the first base and the second base form a universal hinge, and the driving chain drives the driving arm to have two rotational degrees of freedom and two translational degrees of freedom relative to the robot base. The invention can improve the precision of the robot's movement in a small range and improve the efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of aero-engine production, and particularly to a multi-degree-of-freedom hybrid flexible robot. Background Art

[0002] In the process of detecting the welding quality of complex pipelines in aero-engines, there are mainly two aspects of detection; one is to detect the weld seams of bulk welded pipes: the bulk welded pipes are also welded by themselves and have a curved shape, and the weld quality needs to be detected under X-ray. The existing solution is to rely on ordinary industrial robots to grasp the welded pipes for operation. To complete the detection of complex-shaped welded pipes, multiple grasps are required to adjust the posture of the robot to achieve full coverage of the welding detection. The other is to check for welding fault points after the overall welding of the aero-engine pipeline is completed: after the overall welding of the aero-engine pipeline is completed, gas is introduced into the aero-engine pipeline system and then the air pressure is detected to determine whether there are welding quality problems. When there is a leakage situation, the existing solution is to manually hold the device to check for fault points along the welded pipeline.

[0003] The following problems mainly exist in the above detection process: the degree of freedom of the robots in the existing technology is insufficient, sometimes multiple grasps are required, and the work efficiency is low; and the accuracy is insufficient in a small range. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the invention is to overcome the problems of low work efficiency and insufficient accuracy in a small range in the existing technology.

[0005] To solve the above technical problem, the invention provides a multi-degree-of-freedom hybrid flexible robot, including:

[0006] A robot base;

[0007] A first base, arranged above the robot base;

[0008] A second base, arranged on one side of the first base, and one end of the second base is connected with a driving arm with multiple degrees of freedom;

[0009] A driving chain, including two first driving branches, two second driving branches and a passive branch. The two first driving branches and the two second driving branches are arranged on both sides of the passive branch; the bottom end of the passive branch forms a universal hinge with the robot base and the top end is connected with the first base; the bottom end of the first driving branch forms a universal hinge with the robot base and the top end forms a spherical pair with the first base; the bottom end of the second driving branch forms a universal hinge with the robot base and the top end forms a spherical pair with the second base; the first driving branch and the second driving branch expand and contract along their respective axes;

[0010] Among them, the first base and the second base form a universal hinge, and the driving branch chain drives the driving arm to have two rotational degrees of freedom and two translational degrees of freedom relative to the robot base.

[0011] In an embodiment of the invention, the first base and the second base form a universal hinge through a connecting component. The connecting component includes a U-shaped fork, a cross member, and a central shaft. The cross member is located in the U-shaped fork. The cross member includes a sleeve and two connecting shafts symmetrically fixed on the outer wall of the sleeve. The two connecting shafts are rotatably connected to the ears of the U-shaped fork. The central shaft is coaxially arranged with the sleeve. One end of the central shaft is rotatably connected in the sleeve, and the other end of the central shaft is fixed to the second base.

[0012] In an embodiment of the invention, the two connecting shafts are rotatably connected to the ears of the U-shaped fork through bearings; one end of the central shaft is rotatably connected in the sleeve through a bearing.

[0013] In an embodiment of the invention, the driving arm includes a main driving joint and a secondary driving joint. One end of the main driving joint is connected to the second base, and the other end is connected to the secondary driving joint.

[0014] In an embodiment of the invention, the main driving joint includes a plurality of driving joint groups connected in series. Each driving joint group includes a driving joint and a robotic arm connected in series. One end of the driving joint is connected to one end of the robotic arm.

[0015] In an embodiment of the invention, there are a plurality of secondary driving joints, and the plurality of secondary driving joints are connected in series.

[0016] In an embodiment of the invention, both the first driving branch and the second driving branch include servo electric cylinders. Each servo electric cylinder includes a cylinder body and a telescopic rod. The free end of the telescopic rod is connected to the first base, and the tail end of the cylinder body of the servo electric cylinder is connected to the robot base.

[0017] In an embodiment of the invention, the bottoms of the first driving branch, the second driving branch, and the passive branch are all connected to the robot base through a universal connecting component to form a universal hinge;

[0018] The universal connecting component includes a U-shaped fixed seat, a U-shaped swing seat, and a cross shaft. The U-shaped fixed seat is fixed on the robot base. The U-shaped swing seat is fixed at the bottom end of the driving branch chain. The two rotating shafts of the cross shaft are respectively rotatably installed on the U-shaped fixed seat and the U-shaped swing seat, and the three are connected to form a universal structure.

[0019] In an embodiment of the invention, the top end of the first driving branch and the first base, as well as the top end of the second driving branch and the second base, form a spherical pair through a ball hinge connecting component;

[0020] The ball hinge connection assembly includes a ball seat and a rotating ball head. The ball seat is installed at the top of the first driving branch or the second driving branch, and the ball seat is provided with a spherical hole; the rotating ball head includes a rod portion and a rotating portion provided at one end of the rod portion. The rod portion is connected to one side of the first base or the second base, and the rotating ball head is located in the spherical hole.

[0021] In one embodiment of the invention, the two first driving branches and the two second driving branches are symmetrically arranged on both sides of the passive branch.

[0022] The above technical solution of the invention has the following advantages compared with the prior art:

[0023] A multi-degree-of-freedom hybrid serial-parallel dexterous robot described in the present invention is provided with a robot base, a first base, and a second base. Between the robot base and the first base, two first driving branches, two second driving branches, and a passive branch are provided. Among them, the bottoms of the first driving branch, the second driving branch, and the passive branch respectively form a universal hinge with the first base. The top of the first driving branch forms a spherical pair with the first base, the second driving branch forms a spherical pair with the second base, and the top of the passive branch is fixedly connected to the first base; and the first base and the second base form a universal hinge, and the first driving branch and the second driving branch expand and contract along their respective axes. The two first driving branches, the two second driving branches, and the passive branch form a parallel mechanism. Driven by the two first driving branches and the two second driving branches and restricted by the passive branch, the position and attitude of the second base relative to the world coordinate system within a small range (i.e., two rotational degrees of freedom and two translational degrees of freedom) are controlled, making the robot more dexterous, thereby improving the accuracy of the robot's movement within a small range. In addition, in this application, a multi-degree-of-freedom serial driving arm is connected to one side of the second base, so as to achieve activities within a larger range and further improve efficiency. Description of the Drawings

[0024] In order to make the content of the invention easier to be clearly understood, the following further detailed description of the invention is made according to the specific embodiments of the invention in conjunction with the drawings, where

[0025] Figure 1 is a schematic structural diagram of a multi-degree-of-freedom hybrid serial-parallel dexterous robot in a preferred embodiment of the present invention;

[0026] Figure 2 is Figure 1 a schematic structural diagram of the first driving branch or the second driving branch in a multi-degree-of-freedom hybrid serial-parallel dexterous robot shown;

[0027] Figure 3 is Figure 1 a schematic structural diagram of the connection assembly and the second base in a multi-degree-of-freedom hybrid serial-parallel dexterous robot shown;

[0028] Figure 4 is Figure 1 a schematic structural view of a driving arm in a multi-degree-of-freedom hybrid flexible robot shown in the figure;

[0029] Figure 5 is Figure 1 a schematic structural view of a universal joint assembly in a multi-degree-of-freedom hybrid flexible robot shown in the figure;

[0030] Figure 6 is Figure 1 a schematic structural view of a ball joint assembly in a multi-degree-of-freedom hybrid flexible robot shown in the figure.

[0031] Explanation of reference numerals in the specification drawings: 100, robot base;

[0032] 200, first base;

[0033] 300, second base;

[0034] 400, driving branch chain; 410, first driving branch; 420, second driving branch; 430, passive branch;

[0035] 500, connection assembly; 510, U-shaped fork; 520, cross member; 521, sleeve; 522, connecting shaft; 530, central shaft;

[0036] 600, driving arm; 610, first driving joint; 620, first robotic arm; 630, second driving joint; 640, second robotic arm; 650, third driving joint; 660, fourth driving joint; 670, fifth driving joint;

[0037] 700, universal joint assembly; 710, U-shaped fixed seat; 720, U-shaped swing seat; 730, cross shaft;

[0038] 800, ball joint assembly; 810, ball seat; 820, rotating ball head. Detailed implementation manners

[0039] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and be able to implement it, but the embodiments given are not intended to limit the present invention.

[0040] Referring to Figures 1 to 6 shown in the figure, the present invention provides a multi-degree-of-freedom hybrid flexible robot, including:

[0041] a robot base 100, the plane where it is located is a horizontal plane formed by the X-axis and the Y-axis;

[0042] a first base 200, arranged above the robot base 100;

[0043] The second base 300 is disposed on one side of the first base 200, and a driving arm 600 with multiple degrees of freedom is connected to one end of the second base 300;

[0044] The driving chain 400 includes two first driving branches 410, two second driving branches 420 and a passive branch 430. The two first driving branches 410 and the two second driving branches 420 are disposed on both sides of the passive branch 430; the bottom end of the passive branch 430 forms a universal hinge with the robot base 100, and the top end is connected to the first base 200; the bottom end of the first driving branch 410 forms a universal hinge with the robot base 100, and the top end forms a spherical pair with the first base 200. The bottom end of the second driving branch 420 forms a universal hinge with the robot base 100, and the top end forms a spherical pair with the second base 300; the first driving branch 410 and the second driving branch 420 expand and contract along their respective axes;

[0045] Wherein, the first base 200 and the second base 300 form a universal hinge, and the driving chain 400 drives the driving arm 600 to have two rotational degrees of freedom and two translational degrees of freedom relative to the robot base 100.

[0046] Specifically, in this embodiment, the robot base 100, the first base 200, and the second base 300 are provided. Between the robot base 100 and the first base 200, two first driving branches 410, two second driving branches 420 and a passive branch 430 are provided. Wherein, the bottom ends of the first driving branch 410, the second driving branch 420 and the passive branch 430 respectively form universal hinges with the first base 200. The top end of the first driving branch 410 forms a spherical pair with the first base 200. The second driving branch 420 forms a spherical pair with the second base 300. The top end of the passive branch 430 is fixedly connected to the first base 200; and the first base 200 and the second base 300 form a universal hinge, and the first driving branch 410 and the second driving branch 420 expand and contract along their respective axes. The two first driving branches 410, the two second driving branches 420 and the passive branch 430 form a parallel mechanism. Under the drive of the two first driving branches 410 and the two second driving branches 420 and under the restrictive action of the passive branch 430, the position and attitude of the second base 300 relative to the world coordinate system within a small range (i.e., two rotational degrees of freedom and two translational degrees of freedom) are controlled, so that the accuracy of the robot's movement within a small range can be improved. In addition, in this application, a driving arm 600 with multiple degrees of freedom in series is connected to one side of the second base 300, so as to realize activities within a larger range and further improve efficiency.

[0047] The parallel mechanism of this application has 4 degrees of freedom, and the series-connected drive arm 600 has 5 degrees of freedom. Thus, the robot has 9 degrees of freedom, is more flexible and has higher precision, so that the complex and high-precision pipeline welding quality inspection and fault troubleshooting of aero-engines can be realized.

[0048] Further, the first base 200 and the second base 300 form a universal hinge through the connecting component 500. The connecting component 500 includes a U-shaped fork 510, a cross member 520 and a central shaft 530. The cross member 520 is located in the U-shaped fork 510. The cross member 520 includes a sleeve 521 and two connecting shafts 522 symmetrically fixed on the outer wall of the sleeve 521. The two connecting shafts 522 are rotatably connected to the ears of the U-shaped fork 510. The central shaft 530 is coaxially arranged with the sleeve 521. One end of the central shaft 530 is rotatably connected in the sleeve 521, and the other end of the central shaft 530 is fixed to the second base 300.

[0049] Further, the two connecting shafts 522 are rotatably connected to the ears of the U-shaped fork 510 through bearings; one end of the central shaft 530 is rotatably connected in the sleeve 521 through a bearing.

[0050] Specifically, the connecting component 500 is provided in this embodiment, so that the connection between the first base 200 and the second base 300 is realized through the connecting component 500, and the structure is stable and reliable.

[0051] Further, the drive arm 600 includes a main drive joint and a secondary drive joint. One end of the main drive joint is connected to the second base 300, and the other end is connected to the secondary drive joint.

[0052] Further, the main drive joint includes a plurality of drive joint groups connected in series in sequence. The drive joint group includes a drive joint and a robotic arm connected in series in sequence. One end of the drive joint is connected to one end of the robotic arm. For example, there are two drive joint groups. The two drive joint groups include a first drive joint 610, a first robotic arm 620, a second drive joint 630 and a second robotic arm 640. The fixed end of the first drive joint 610 is connected to the second base 300. The movable end of the first drive joint 610 is connected to one end of the first robotic arm 620. The other end of the first robotic arm 620 is connected to the fixed end of the second drive joint 630. The movable end of the second drive joint 630 is connected to one end of the second robotic arm 640. The other end of the second robotic arm 640 is connected to the secondary drive joint.

[0053] Further, there are multiple secondary drive joints, and the multiple secondary drive joints are connected in series. In some embodiments, the multiple secondary drive joints are respectively a third drive joint 650, a fourth drive joint 660, and a fifth drive joint 670. The other end (the movable end) of the second drive joint 630 is fixed to one end (the fixed end) of the third drive joint 650. The other end (the movable end) of the third drive joint 650 is fixed to one end (the fixed end) of the fourth drive joint 660. The other end (the movable end) of the fourth drive joint 660 is fixed to one end (the fixed end) of the fifth drive joint 670. The secondary drive joints in this embodiment include the second drive joint 630, the third drive joint 650, and the fourth drive joint 660, thus forming a 5-degree-of-freedom serial drive arm 600.

[0054] Specifically, in this embodiment, through the connection of multiple secondary drive joints and multiple drive joint groups, the serial drive arm 600 is realized, thereby realizing the multi-degree-of-freedom end drive arm 600. Further, the dexterity and precision of the robot are improved.

[0055] Further, both the first drive branch 410 and the second drive branch 420 include servo electric cylinders. The servo electric cylinder includes a cylinder block and a telescopic rod. The free end of the telescopic rod is connected to the first base 200, and the tail end of the cylinder block of the servo electric cylinder is connected to the robot base 100.

[0056] Specifically, in this embodiment, the telescoping of the first drive branch 410 and the second drive branch 420 is realized through the servo electric cylinder. The telescoping operation is stable and intelligent control can be achieved.

[0057] Further, the bottoms of the first drive branch 410, the second drive branch 420, and the passive branch 430 are all connected to the robot base 100 through a universal connection assembly 700 to form a universal hinge;

[0058] The universal connection assembly 700 includes a U-shaped fixed seat 710, a U-shaped swing seat 720, and a cross shaft 730. The U-shaped fixed seat 710 is fixed on the robot base 100. The U-shaped swing seat 720 is fixed at the bottom of the drive chain 400 (i.e., the first drive branch 410, the second drive branch 420, and the passive branch 430). The two rotating shafts of the cross shaft 730 are respectively rotatably installed on the U-shaped fixed seat 710 and the U-shaped swing seat 720, and the three are connected to form a universal structure.

[0059] Specifically, in this embodiment, the universal hinge structure for connecting the first drive branch 410, the second drive branch 420, and the passive branch 430 to the robot base 100 is realized through the universal connection assembly 700. The structure is simple, stable and reliable, and the manufacturing cost is low.

[0060] Furthermore, the top end of the first driving branch 410 and the first base 200, as well as the top end of the second driving branch 420 and the second base 300, are both connected by a spherical hinge connection assembly 800 to form a spherical pair.

[0061] The spherical hinge connection assembly 800 includes a ball seat 810 and a rotating ball head 820. The ball seat 810 is installed at the top end of the first driving branch 410 or the second driving branch 420, and the ball seat 810 is provided with a spherical hole; the rotating ball head 820 includes a rod portion and a rotating portion provided at one end of the rod portion. The rod portion is connected to one side of the first base 200 or the second base 300, and the rotating ball head 820 is located in the spherical hole.

[0062] Specifically, in this embodiment, the connection between the ball seat 810 and the rotating ball head 820 is used to realize the connection between the top end of the first driving branch 410 and the first base 200, as well as the connection between the top end of the second driving branch 420 and the second base 300.

[0063] Furthermore, the two first driving branches 410 and the two second driving branches 420 are symmetrically arranged on both sides of the passive branch 430.

[0064] Specifically, this makes the structure of this application more stable and the operation more reliable.

[0065] Obviously, the above embodiments are merely examples given for clear illustration and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. And the obvious changes or modifications derived therefrom are still within the protection scope of the invention.

Claims

1. A multi-degree-of-freedom hybrid serial-parallel dexterous robot, characterized in that: Comprising: Robot base; First base, arranged above the robot base; Second base, arranged on one side of the first base, one end of the second base is connected with a driving arm having multiple degrees of freedom; Driving chain, including two first driving branches, two second driving branches and a passive branch, the two first driving branches and the two second driving branches are arranged on both sides of the passive branch; the bottom end of the passive branch forms a universal hinge with the robot base and the top end is connected with the first base; the bottom end of the first driving branch forms a universal hinge with the robot base and the top end forms a spherical pair with the first base, the bottom end of the second driving branch forms a universal hinge with the robot base and the top end forms a spherical pair with the second base; the first driving branch and the second driving branch extend and contract along their respective axes; Wherein, the first base and the second base form a universal hinge, and the driving chain drives the driving arm to have two rotational degrees of freedom and two translational degrees of freedom relative to the robot base.

2. The multi-degree-of-freedom hybrid serial-parallel dexterous robot according to claim 1, wherein: The first base and the second base form a universal hinge through a connecting component, the connecting component includes a U-shaped fork, a cross member and a central shaft, the cross member is located in the U-shaped fork, the cross member includes a sleeve and two connecting shafts symmetrically fixed on the outer wall of the sleeve, the two connecting shafts are rotationally connected with the ears of the U-shaped fork, the central shaft is coaxially arranged with the sleeve, one end of the central shaft is rotationally connected in the sleeve, and the other end of the central shaft is fixed to the second base.

3. The multi-degree-of-freedom hybrid serial-parallel dexterous robot according to claim 2, wherein: The two connecting shafts are rotationally connected with the ears of the U-shaped fork through bearings; one end of the central shaft is rotationally connected in the sleeve through a bearing.

4. The multi-degree-of-freedom hybrid serial-parallel dexterous robot according to claim 1, wherein: The driving arm includes a main driving joint and a secondary driving joint, one end of the main driving joint is connected with the second base and the other end is connected with the secondary driving joint.

5. The multi-degree-of-freedom hybrid serial-parallel dexterous robot according to claim 4, wherein: The main driving joint includes a plurality of driving joint groups connected in series in sequence, the driving joint group includes a driving joint and a robotic arm connected in series in sequence, and one end of the driving joint is connected with one end of the robotic arm.

6. The multi-degree-of-freedom hybrid serial-parallel dexterous robot according to claim 5, wherein: There are multiple secondary driving joints, and the multiple secondary driving joints are connected in series.

7. The multi-degree-of-freedom hybrid serial-parallel dexterous robot according to claim 1, characterized in that: Both the first driving branch and the second driving branch include servo electric cylinders, the servo electric cylinder includes a cylinder body and a telescopic rod, the free end of the telescopic rod is connected with the first base, and the tail end of the cylinder body of the servo electric cylinder is connected with the robot base.

8. The multi-degree-of-freedom hybrid serial-parallel dexterous robot according to claim 1, characterized in that: The bottom ends of the first driving branch, the second driving branch and the passive branch all form universal hinges with the robot base through universal connecting components; The universal connecting component includes a U-shaped fixed seat, a U-shaped swing seat and a cross shaft, the U-shaped fixed seat is fixed on the robot base, the U-shaped swing seat is fixed at the bottom end of the driving chain, and the two rotating shafts of the cross shaft are respectively rotationally installed on the U-shaped fixed seat and the U-shaped swing seat and the three are connected to form a universal structure.

9. The multi-degree-of-freedom hybrid serial-parallel dexterous robot according to claim 1, wherein: The top end of the first driving branch and the first base as well as the top end of the second driving branch and the second base both form spherical pairs through spherical hinge connecting components; The ball hinge connection assembly includes a ball seat and a rotating ball head. The ball seat is installed at the top of the first drive branch or the second drive branch, and the ball seat is provided with a spherical hole. The rotating ball head includes a rod portion and a rotating portion provided at one end of the rod portion. The rod portion is connected to one side of the first base or the second base, and the rotating ball head is located in the spherical hole.

10. The multi-degree-of-freedom hybrid serial-parallel dexterous robot according to claim 1, characterized in that: The two first drive branches and the two second drive branches are symmetrically arranged on both sides of the passive branch.

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