One-dimensional spiral motion parallel robot with axis coinciding with center line of end effector and method

Abstract

The invention discloses a one-dimensional spiral motion parallel robot with the axis coinciding with the center line of an end effector. The one-dimensional spiral motion parallel robot comprises a base and a seventh connecting rod, and a first kinematic chain and a second kinematic chain are connected between the base and the seventh connecting rod; the device further comprises a third kinematic chain, and the first kinematic chain is connected with the second kinematic chain through the third kinematic chain. The mass centers of the end effectors installed on the robot are evenly distributed along the axis of the spiral motion, and when the robot moves at a high speed, the inertia force of the spiral motion of the end effectors can be effectively reduced, so that the dynamic performance of the motion of the end effectors is improved, and the complexity of motion control is reduced. The invention further discloses a driving method of the one-dimensional spiral motion parallel robot with the axis coinciding with the center line of the end effector.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and particularly relates to a parallel robot with a one-dimensional spiral motion whose axis coincides with the center line of the end effector, and also relates to a driving method for the parallel robot with a one-dimensional spiral motion whose axis coincides with the center line of the end effector. Background Art

[0002] Generally, a spiral motion rotates along an axis and is accompanied by a movement along its axis. Some single-degree-of-freedom constraint mechanisms have a one-dimensional spiral motion; generally, the axis of the spiral motion remains fixed, and in special cases of the spiral motion, the direction of its axis changes as the robot moves, and the pitch of the spiral motion in the axis direction also changes accordingly. Generally, due to the continuous change of the spiral motion axis of the end effector with this spiral motion, and the mass distribution of the end effector mounted on the robot is not concentrated on the spiral motion axis, an inertial force will be generated during the spiral motion, and when the end effector moves at a high speed, it will affect the dynamic performance of the end effector and increase the complexity of motion control. Summary of the Invention

[0003] The first object of the present invention is to provide a parallel robot with a one-dimensional spiral motion whose axis coincides with the center line of the end effector. The mass center of the end effector installed on this robot is evenly distributed along the axis of the spiral motion. When the robot moves at a high speed, it can effectively reduce the inertial force of the spiral motion of the end effector, thereby improving the dynamic performance of the movement of the end effector and reducing the complexity of motion control.

[0004] The second object of the present invention is to provide a driving method for the parallel robot with a one-dimensional spiral motion whose axis coincides with the center line of the end effector.

[0005] The first technical solution adopted by the present invention is that a parallel robot with a one-dimensional spiral motion whose axis coincides with the center line of the end effector includes a base and a seventh link. A first kinematic chain and a second kinematic chain are connected between the base and the seventh link; a third kinematic chain is also included, and the first kinematic chain is connected to the second kinematic chain through the third kinematic chain. The present invention is further characterized in that: The third kinematic chain includes a twelfth revolute pair R12, a third link, and a twenty-second revolute pair R22 connected in sequence.

[0006] The first kinematic chain includes an eleventh revolute pair R11, a second link assembly, a thirteenth revolute pair R13, a fifth link, a fourteenth prismatic pair P14, a sixth link, and a fifteenth prismatic pair P15 connected in sequence; the fifteenth prismatic pair P15 is also connected to the seventh link, and the eleventh revolute pair R11 is also connected to the base; the second link assembly is also connected to the twelfth revolute pair R12.

[0007] The second link assembly includes a first rod and a second rod; the first rod is a broken-line link with a bend point, the first end of the first rod is connected to the eleventh revolute pair R11, and the second end of the first rod is connected to the thirteenth revolute pair R13; the first end of the second rod is connected to the rod body of the first rod, and the second end of the second rod is connected to the twelfth revolute pair R12.

[0008] The second kinematic chain includes a twenty-first revolute pair R21, a fourth link assembly, a twenty-third revolute pair R23, a ninth link, a twenty-fourth prismatic pair P24, an eighth link, and a sixteenth revolute pair R16 connected in sequence; the sixteenth revolute pair R16 is also connected to the seventh link, and the twenty-first revolute pair R21 is also connected to the base; the fourth link assembly is also connected to the twenty-second revolute pair R22.

[0009] The fourth link assembly includes a third rod and a fourth rod; the third rod is a broken-line link with a bend point, the first end of the third rod is connected to the twenty-first revolute pair R21, and the second end of the third rod is connected to the twenty-third revolute pair R23; the first end of the fourth rod is connected to the rod body of the third rod, and the second end of the fourth rod is connected to the twenty-second revolute pair R22.

[0010] A rotational drive motor is connected to the eleventh revolute pair R11.

[0011] The second technical solution adopted by the present invention is a driving method for a parallel robot with a 1D helical motion whose axis coincides with the center line of the end effector, specifically: the rotational drive motor connected to the eleventh revolute pair R11 controls the movement of the robot, and the axis of the sixteenth revolute pair R16 coincides with the axis of the 1D helical motion performed by the seventh link.

[0012] The beneficial effects of the present invention are as follows: (1) The parallel robot with a 1D helical motion whose axis coincides with the center line of the end effector proposed by the present invention. The variable-axis rotational motion of the end effector installed on this robot is accompanied by a movement with a variable pitch along the variable axis direction. The center of mass of its end effector is evenly distributed along the axis of the helical motion. When the robot moves at high speed, it can effectively reduce the inertial force of the helical motion of the end effector, thereby improving the dynamic performance of the end effector's movement and reducing the complexity of motion control.

[0013] (2) For the parallel robot with a 1D helical motion whose axis coincides with the center line of the end effector proposed by the present invention, the axis of its helical motion can form a hyperboloid of one sheet, and a tool can be installed on its end effector to polish and machine the surface of such a surface. Description of the Drawings

[0014] Figure 1General configuration diagram of a parallel robot with a 1D helical motion whose axis coincides with the center line of the end effector.

[0015] 1. Base, 2. Second link assembly, 3. Third link, 4. Fourth link assembly, 5. Fifth link, 6. Sixth link, 7. End effector, 8. Eighth link, 9. Ninth link; 2-1. First strut, 2-2. Second strut; 4-1. Third strut, 4-2. Fourth strut. Detailed implementation mode

[0016] The present invention will be described in detail below in conjunction with the accompanying drawings and specific implementation modes.

[0017] The present invention provides a parallel robot with a 1D helical motion whose axis coincides with the center line of the end effector, including a base 1 and a seventh link 7. A first kinematic chain and a second kinematic chain are connected between the base 1 and the seventh link 7; a third kinematic chain is also included, and the first kinematic chain is connected to the second kinematic chain through the third kinematic chain.

[0018] The third kinematic chain includes a twelfth revolute pair R12, a third link 3, and a twenty-second revolute pair R22 connected in sequence.

[0019] The first kinematic chain includes an eleventh revolute pair R11, a second link assembly 2, a thirteenth revolute pair R13, a fifth link 5, a fourteenth prismatic pair P14, a sixth link 6, and a fifteenth prismatic pair P15 connected in sequence; the fifteenth prismatic pair P15 is also connected to the seventh link 7, and the eleventh revolute pair R11 is also connected to the base 1; the second link assembly 2 is also connected to the twelfth revolute pair R12.

[0020] The second link assembly 2 includes a first strut 2-1 and a second strut 2-2; the first strut 2-1 is a polygonal link with a bend, the first end of the first strut 2-1 is connected to the eleventh revolute pair R11, and the second end of the first strut 2-1 is connected to the thirteenth revolute pair R13; the first end of the second strut 2-2 is connected to the rod body of the first strut 2-1, and the second end of the second strut 2-2 is connected to the twelfth revolute pair R12.

[0021] The second kinematic chain includes a twenty-first revolute pair R21, a fourth link assembly 4, a twenty-third revolute pair R23, a ninth link 9, a twenty-fourth prismatic pair P24, an eighth link 8, and a sixteenth revolute pair R16 connected in sequence; the sixteenth revolute pair R16 is also connected to the seventh link 7, and the twenty-first revolute pair R21 is also connected to the base 1; the fourth link assembly 4 is also connected to the twenty-second revolute pair R22.

[0022] The fourth link assembly 4 includes a third link 4-1 and a fourth link 4-2; the third link 4-1 is a broken-line link with a folding point. The first end of the third link 4-1 is connected to the twenty-first revolute pair R21, and the second end of the third link 4-1 is connected to the twenty-third revolute pair R23; the first end of the fourth link 4-2 is connected to the rod body of the third link 4-1, and the second end of the fourth link 4-2 is connected to the twenty-second revolute pair R22.

[0023] A rotary drive motor is connected to the eleventh revolute pair R11.

[0024] The driving method of a parallel robot with a 1D helical motion whose axis coincides with the center line of the end effector is as follows: the rotary drive motor connected to the eleventh revolute pair R11 controls the movement of the robot, and the axis of the sixteenth revolute pair R16 coincides with the axis of the 1D helical motion performed by the seventh link 7.

[0025] As Figure 1 shown, the base 1 is rotatably connected to the first link 2-1 through the eleventh revolute pair R11, the first link 2-1 is rotatably connected to the fifth link 5 through the thirteenth revolute pair R13, the fifth link 5 is movably connected to the sixth link 6 through the fourteenth prismatic pair P14, and the sixth link 6 is movably connected to the seventh link 7 through the fifteenth prismatic pair P15; The base 1 is rotatably connected to the third link 4-1 through the twenty-first revolute pair R21, the third link 4-1 is rotatably connected to the ninth link 9 through the twenty-third revolute pair R23, the ninth link 9 is movably connected to the eighth link 8 through the twenty-fourth prismatic pair P24, and the eighth link 8 is rotatably connected to the seventh link 7 through the sixteenth revolute pair R16; The third link 3 is rotatably connected to the second link 2-2 through the twelfth revolute pair R12, and the third link 3 is rotatably connected to the fourth link 4-2 through the twenty-second revolute pair R22.

[0026] An end effector is installed at the end of the seventh link 7.

[0027] Figure 1 In the mechanism configuration shown, the axis of the thirteenth revolute pair R13 is the common perpendicular of the axes of the eleventh revolute pair R11 and the twelfth revolute pair R12. The axes of the eleventh revolute pair R11 and the twelfth revolute pair R12 are skew lines.

[0028] Figure 1 In the mechanism configuration shown, the axis of the twenty-third revolute pair R23 is the common perpendicular of the axes of the twenty-first revolute pair R21 and the twenty-second revolute pair R22. The axes of the twenty-first revolute pair R21 and the twenty-second revolute pair R22 are skew lines.

[0029] Figure 1In the configuration of the mechanism shown, the moving direction of the fourteenth sliding pair P14 is parallel to the axis of the thirteenth revolute pair R13.

[0030] Figure 1 In the configuration of the mechanism shown, the axis of the sixteenth revolute pair R16 is skew perpendicular to the axis of the thirteenth revolute pair R13, and the moving direction of the fifteenth sliding pair P15 is parallel to the common perpendicular of the axes of the thirteenth revolute pair R13 and the sixteenth revolute pair R16.

[0031] Figure 1 In the configuration of the mechanism shown, the axis of the sixteenth revolute pair R16 is skew perpendicular to the axis of the twenty-third revolute pair R23, and the moving direction of the twenty-fourth sliding pair P24 is parallel to the common perpendicular of the axes of the twenty-third revolute pair R23 and the sixteenth revolute pair R16.

[0032] Figure 1 In the configuration of the mechanism shown, the line connecting the intersection point O1 of the axes of the eleventh revolute pair R11 and the twenty-second revolute pair R22, and the intersection point O2 of the axes of the twelfth revolute pair R12 and the twenty-first revolute pair R21 coincides with the axis of the sixteenth revolute pair R16.

[0033] Using the DH parameter method to describe the spatial relationship between the axes, the twist angle of the axis of the twelfth revolute pair R12 relative to the axis of the eleventh revolute pair R11 is α1, and the distance between the axis of the twelfth revolute pair R12 and the axis of the eleventh revolute pair R11 is l 11 . The twist angle of the axis of the twenty-second revolute pair R22 relative to the axis of the twenty-first revolute pair R21 is α2, and the distance between the axis of the twenty-second revolute pair R12 and the axis of the twenty-first revolute pair R21 is l 12 .

[0034] Using the DH parameter method to describe the spatial relationship between the axes, the twist angle of the axis of the twelfth revolute pair R12 relative to the axis of the twenty-second revolute pair R22 is β1, and the distance between the axis of the twelfth revolute pair R12 and the axis of the twenty-second revolute pair R22 is l 21 . The twist angle of the axis of the twenty-first revolute pair R21 relative to the axis of the eleventh revolute pair R11 is β2, and the distance between the axis of the twenty-first revolute pair R21 and the axis of the eleventh revolute pair R11 is l 22 .

[0035] As described above, α1 = α2, l 11 = l 12 , β1 = β2, l 21 = l 22 As described above, the DH parameters satisfy the formula: (sinα1) / l 11 =(sinβ1) / l 21 , l 11 = l 21 , α1 = β1.

[0036] Figure 1 For the robot shown, the rotational drive motor connected to the eleventh rotational pair R11 controls the movement of the robot, and the axis of the sixteenth rotational pair R16 coincides with the axis of the one-dimensional helical motion performed by the connecting rod 7.

[0037] Embodiment 1 A parallel robot with a one-dimensional helical motion whose axis coincides with the center line of the end effector, including a base 1 and a seventh connecting rod 7. A first kinematic chain and a second kinematic chain are connected between the base 1 and the seventh connecting rod 7; a third kinematic chain is also included, and the first kinematic chain is connected to the second kinematic chain through the third kinematic chain.

[0038] Embodiment 2 A parallel robot with a one-dimensional helical motion whose axis coincides with the center line of the end effector, including a base 1 and a seventh connecting rod 7. A first kinematic chain and a second kinematic chain are connected between the base 1 and the seventh connecting rod 7; a third kinematic chain is also included, and the first kinematic chain is connected to the second kinematic chain through the third kinematic chain.

[0039] The third kinematic chain includes a twelfth rotational pair R12, a third connecting rod 3, and a twenty-second rotational pair R22 connected in sequence.

[0040] Embodiment 3 A parallel robot with a one-dimensional helical motion whose axis coincides with the center line of the end effector, including a base 1 and a seventh connecting rod 7. A first kinematic chain and a second kinematic chain are connected between the base 1 and the seventh connecting rod 7; a third kinematic chain is also included, and the first kinematic chain is connected to the second kinematic chain through the third kinematic chain.

[0041] The third kinematic chain includes a twelfth rotational pair R12, a third connecting rod 3, and a twenty-second rotational pair R22 connected in sequence.

[0042] The first kinematic chain includes an eleventh rotational pair R11, a second connecting rod assembly 2, a thirteenth rotational pair R13, a fifth connecting rod 5, a fourteenth prismatic pair P14, a sixth connecting rod 6, and a fifteenth prismatic pair P15 connected in sequence; the fifteenth prismatic pair P15 is also connected to the seventh connecting rod 7, and the eleventh rotational pair R11 is also connected to the base 1; the second connecting rod assembly 2 is also connected to the twelfth rotational pair R12.

[0043] Embodiment 4 A parallel robot with a 1D spiral motion whose axis coincides with the center line of the end effector, comprising a base 1 and a seventh link 7. A first kinematic chain and a second kinematic chain are connected between the base 1 and the seventh link 7; a third kinematic chain is also included, and the first kinematic chain is connected to the second kinematic chain through the third kinematic chain.

[0044] The third kinematic chain includes a twelfth revolute pair R12, a third link 3, and a twenty-second revolute pair R22 connected in sequence.

[0045] The first kinematic chain includes an eleventh revolute pair R11, a second link assembly 2, a thirteenth revolute pair R13, a fifth link 5, a fourteenth prismatic pair P14, a sixth link 6, and a fifteenth prismatic pair P15 connected in sequence; the fifteenth prismatic pair P15 is also connected to the seventh link 7, the eleventh revolute pair R11 is also connected to the base 1; the second link assembly 2 is also connected to the twelfth revolute pair R12.

[0046] The second link assembly 2 includes a first strut 2-1 and a second strut 2-2; the first strut 2-1 is a polygonal link with a fold point. The first end of the first strut 2-1 is connected to the eleventh revolute pair R11, and the second end of the first strut 2-1 is connected to the thirteenth revolute pair R13; the first end of the second strut 2-2 is connected to the body of the first strut 2-1, and the second end of the second strut 2-2 is connected to the twelfth revolute pair R12.

[0047] Embodiment 5 A parallel robot with a 1D spiral motion whose axis coincides with the center line of the end effector, comprising a base 1 and a seventh link 7. A first kinematic chain and a second kinematic chain are connected between the base 1 and the seventh link 7; a third kinematic chain is also included, and the first kinematic chain is connected to the second kinematic chain through the third kinematic chain.

[0048] The third kinematic chain includes a twelfth revolute pair R12, a third link 3, and a twenty-second revolute pair R22 connected in sequence.

[0049] The first kinematic chain includes an eleventh revolute pair R11, a second link assembly 2, a thirteenth revolute pair R13, a fifth link 5, a fourteenth prismatic pair P14, a sixth link 6, and a fifteenth prismatic pair P15 connected in sequence; the fifteenth prismatic pair P15 is also connected to the seventh link 7, the eleventh revolute pair R11 is also connected to the base 1; the second link assembly 2 is also connected to the twelfth revolute pair R12.

[0050] The second link assembly 2 includes a first rod 2-1 and a second rod 2-2; the first rod 2-1 is a broken-line link with a folding point, the first end of the first rod 2-1 is connected to the eleventh revolute pair R11, and the second end of the first rod 2-1 is connected to the thirteenth revolute pair R13; the first end of the second rod 2-2 is connected to the rod body of the first rod 2-1, and the second end of the second rod 2-2 is connected to the twelfth revolute pair R12.

[0051] The second kinematic chain includes a twenty-first revolute pair R21, a fourth link assembly 4, a twenty-third revolute pair R23, a ninth link 9, a twenty-fourth prismatic pair P24, an eighth link 8, and a sixteenth revolute pair R16 connected in sequence; the sixteenth revolute pair R16 is also connected to the seventh link 7, the twenty-first revolute pair R21 is also connected to the base 1; the fourth link assembly 4 is also connected to the twenty-second revolute pair R22.

[0052] Embodiment 6 A parallel robot with a 1D helical motion whose axis coincides with the center line of the end effector includes a base 1 and a seventh link 7, and a first kinematic chain and a second kinematic chain are connected between the base 1 and the seventh link 7; a third kinematic chain is also included, and the first kinematic chain is connected to the second kinematic chain through the third kinematic chain.

[0053] The third kinematic chain includes a twelfth revolute pair R12, a third link 3, and a twenty-second revolute pair R22 connected in sequence.

[0054] The first kinematic chain includes an eleventh revolute pair R11, a second link assembly 2, a thirteenth revolute pair R13, a fifth link 5, a fourteenth prismatic pair P14, a sixth link 6, and a fifteenth prismatic pair P15 connected in sequence; the fifteenth prismatic pair P15 is also connected to the seventh link 7, the eleventh revolute pair R11 is also connected to the base 1; the second link assembly 2 is also connected to the twelfth revolute pair R12.

[0055] The second link assembly 2 includes a first rod 2-1 and a second rod 2-2; the first rod 2-1 is a broken-line link with a folding point, the first end of the first rod 2-1 is connected to the eleventh revolute pair R11, and the second end of the first rod 2-1 is connected to the thirteenth revolute pair R13; the first end of the second rod 2-2 is connected to the rod body of the first rod 2-1, and the second end of the second rod 2-2 is connected to the twelfth revolute pair R12.

[0056] The second kinematic chain includes a twenty-first revolute pair R21, a fourth link assembly 4, a twenty-third revolute pair R23, a ninth link 9, a twenty-fourth prismatic pair P24, an eighth link 8, and a sixteenth revolute pair R16 connected in sequence; the sixteenth revolute pair R16 is also connected to the seventh link 7, the twenty-first revolute pair R21 is also connected to the base 1; the fourth link assembly 4 is also connected to the twenty-second revolute pair R22.

[0057] The fourth link assembly 4 includes a third link 4-1 and a fourth link 4-2; the third link 4-1 is a broken-line link with a turning point, the first end of the third link 4-1 is connected to the twenty-first revolute pair R21, and the second end of the third link 4-1 is connected to the twenty-third revolute pair R23; the first end of the fourth link 4-2 is connected to the rod body of the third link 4-1, and the second end of the fourth link 4-2 is connected to the twenty-second revolute pair R22.

Claims

1. A parallel robot with a 1-DOF helical motion where the axis coincides with the center line of the end effector, characterized in that, It includes a base (1) and a seventh link (7), and a first kinematic chain and a second kinematic chain are connected between the base (1) and the seventh link (7); a third kinematic chain is further included, and the first kinematic chain is connected to the second kinematic chain through the third kinematic chain.

2. The parallel robot with 1D spiral motion whose axis coincides with the center line of the end effector according to claim 1, characterized in that, The third kinematic chain includes a twelfth revolute pair R12, a third link (3), and a twenty-second revolute pair R22 that are connected in sequence.

3. The parallel robot with a 1D spiral motion whose axis coincides with the center line of the end effector according to claim 2, characterized in that, The first kinematic chain includes an eleventh revolute pair R11, a second link assembly (2), a thirteenth revolute pair R13, a fifth link (5), a fourteenth prismatic pair P14, a sixth link (6), and a fifteenth prismatic pair P15 that are connected in sequence; the fifteenth prismatic pair P15 is further connected to the seventh link (7), and the eleventh revolute pair R11 is further connected to the base (1); the second link assembly (2) is further connected to the twelfth revolute pair R12.

4. The parallel robot with 1D spiral motion whose axis coincides with the center line of the end effector according to claim 3, characterized in that, The second link assembly (2) includes a first rod (2-1) and a second rod (2-2); the first rod (2-1) is a polygonal link with a fold point, the first end of the first rod (2-1) is connected to the eleventh revolute pair R11, and the second end of the first rod (2-1) is connected to the thirteenth revolute pair R13; the first end of the second rod (2-2) is connected to the rod body of the first rod (2-1), and the second end of the second rod (2-2) is connected to the twelfth revolute pair R12.

5. The parallel robot with 1-DOF spiral motion whose axis coincides with the central line of the end effector according to claim 2, characterized in that, The second kinematic chain includes a twenty-first revolute pair R21, a fourth link assembly (4), a twenty-third revolute pair R23, a ninth link (9), a twenty-fourth prismatic pair P24, an eighth link (8), and a sixteenth revolute pair R16 that are connected in sequence; the sixteenth revolute pair R16 is further connected to the seventh link (7), and the twenty-first revolute pair R21 is further connected to the base (1); the fourth link assembly (4) is further connected to the twenty-second revolute pair R22.

6. The parallel robot with a 1D spiral motion whose axis coincides with the center line of the end effector according to claim 5, characterized in that, The fourth link assembly (4) includes a third rod (4-1) and a fourth rod (4-2); the third rod (4-1) is a polygonal link with a fold point, the first end of the third rod (4-1) is connected to the twenty-first revolute pair R21, and the second end of the third rod (4-1) is connected to the twenty-third revolute pair R23; the first end of the fourth rod (4-2) is connected to the rod body of the third rod (4-1), and the second end of the fourth rod (4-2) is connected to the twenty-second revolute pair R22.

7. The parallel robot with 1-DOF spiral motion whose axis coincides with the center line of the end effector according to claim 3, characterized in that A rotational drive motor is connected to the eleventh revolute pair R11.

8. The driving method of the parallel robot with 1D spiral motion whose axis coincides with the center line of the end effector according to any one of claims 1-7, characterized in that, Specifically: The rotational drive motor connected to the eleventh revolute pair R11 controls the movement of the robot, and the axis of the sixteenth revolute pair R16 coincides with the axis of the 1D helical motion performed by the seventh link (7).

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