CN106737599A - A kind of moving platform mechanism for being provided with ball-screw - Google Patents
A kind of moving platform mechanism for being provided with ball-screw Download PDFInfo
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- CN106737599A CN106737599A CN201710028714.7A CN201710028714A CN106737599A CN 106737599 A CN106737599 A CN 106737599A CN 201710028714 A CN201710028714 A CN 201710028714A CN 106737599 A CN106737599 A CN 106737599A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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Abstract
本发明公布了一种设有滚珠丝杠的动平台机构，属于机器人技术领域。该动平台机构包括上动平台、下动平台、滚珠丝杠、丝杠末端挡块、丝杠螺母、末端执行件、同步带、同步带轮、丝杠连杆、动平台连杆及驱动装置；驱动装置安装在电机支座上，电机轴端安装有同步带轮，另一同步带轮与丝杠螺母的内圈相连接，丝杠螺母固定于上动平台上并与丝杠配合，丝杠下端固接末端执行件，末端执行件下端连接丝杠连杆，丝杠连杆下端与下动平台相连，本发明主要应用于六轴并联机器人，该动平台机构的下动平台相对上动平台能够偏转一定的角度，从而增大末端执行机构的偏转角度，解决了六轴并联机器人在实际运动过程中受限等问题而导致的末端执行机构偏转角度偏小的问题。
The invention discloses a moving platform mechanism provided with a ball screw, which belongs to the technical field of robots. The moving platform mechanism includes an upper moving platform, a lower moving platform, a ball screw, a screw end stop, a screw nut, an end effector, a synchronous belt, a synchronous pulley, a screw connecting rod, a moving platform connecting rod and a driving device The driving device is installed on the motor support, the motor shaft end is equipped with a synchronous pulley, and the other synchronous pulley is connected with the inner ring of the lead screw nut, the lead screw nut is fixed on the upper moving platform and cooperates with the lead screw, the lead screw The lower end of the rod is fixedly connected to the end actuator, the lower end of the end actuator is connected to the screw connecting rod, and the lower end of the screw connecting rod is connected to the lower moving platform. This invention is mainly applied to six-axis parallel robots. The lower moving platform of the moving platform mechanism is relatively upper The platform can deflect at a certain angle, thereby increasing the deflection angle of the end effector, which solves the problem that the deflection angle of the end effector is too small due to the limitation of the six-axis parallel robot in the actual movement process.
Description
技术领域：Technical field:
本发明属于机器人技术领域，具体涉及一种设有滚珠丝杠的动平台机构。The invention belongs to the technical field of robots, and in particular relates to a moving platform mechanism provided with a ball screw.
背景技术：Background technique:
轻工、医药、食品和电子等行业的自动化生产线中，诸如分拣、包装、封装，特别是在物料搬运、机床上下料等这种重复、枯燥、危险性尤为突出工作中，为了减轻人类劳动强度，提高工作效率，在作业工序中往往需要在空间中安置重复性工作的作业机械人。然而当下很多主流的并联机器人其活动平台的运动不够灵活，末端件的转动范围一般只在40度左右或是更小，其应用的范围受到限制。In the automated production lines of light industry, medicine, food and electronics industries, such as sorting, packaging and packaging, especially in repetitive, boring and dangerous tasks such as material handling and machine tool loading and unloading, in order to reduce human labor Strength, improve work efficiency, often need to place repetitive work robots in the space in the work process. However, the movement of the active platform of many mainstream parallel robots is not flexible enough, and the rotation range of the end piece is generally only about 40 degrees or less, and its application range is limited.
发明内容：Invention content:
本发明针对上述现有技术中存在的不足，提供一种设有滚珠丝杠的动平台机构，该动平台机构是一种可实现动平台偏转角度增大的动平台机构，因而扩展了许多现有机器人的应用范围。The present invention aims at the deficiencies in the above-mentioned prior art, and provides a moving platform mechanism provided with a ball screw. There is a range of applications for robots.
本发明所提供的一种设有滚珠丝杠的动平台机构包括驱动装置1、同步带3、第一同步带轮4a、第二同步带轮4b、丝杠螺母5、上动平台6、丝杠7、丝杠末端挡块16、末端执行件8、丝杠连杆9、下动平台11、第一动平台连杆14a及第二动平台连杆14b；所述驱动装置1布置于所述上动平台6的中心位置，所述驱动装置1安装在电机支座2上，所述驱动装置1的电机轴端安装有所述第一同步带轮4a，所述第二同步带轮4b与所述丝杠螺母5的内圈相连接，所述第一同步带轮4a、第二同步带轮4b与所述同步带3配合，所述丝杠螺母5固连在所述上动平台6上，所述丝杠螺母5与所述丝杠7配合，所述丝杠7上端固接所述丝杠末端挡块16，所述丝杠7下端固接所述末端执行件8，所述末端执行件8下端连接所述丝杠连杆9，所述丝杠连杆9下端通过第一虎克铰10与所述下动平台11相连，所述第一动平台连杆14a及第二动平台连杆14b的上端分别通过第二虎克铰12、第三虎克铰13与所述上动平台6相连，所述第一动平台连杆14a及第二动平台连杆14b的下端通过球铰15与所述下动平台11相连。A moving platform mechanism provided with a ball screw provided by the present invention includes a driving device 1, a timing belt 3, a first timing pulley 4a, a second timing pulley 4b, a lead screw nut 5, an upper moving platform 6, a wire Rod 7, lead screw end block 16, end effector 8, lead screw connecting rod 9, lower moving platform 11, first moving platform connecting rod 14a and second moving platform connecting rod 14b; the drive device 1 is arranged on the The central position of the upper moving platform 6, the driving device 1 is installed on the motor support 2, the motor shaft end of the driving device 1 is equipped with the first synchronous pulley 4a, the second synchronous pulley 4b Connected with the inner ring of the lead screw nut 5, the first synchronous pulley 4a and the second synchronous pulley 4b cooperate with the synchronous belt 3, and the lead screw nut 5 is fixedly connected to the upper moving platform 6, the lead screw nut 5 cooperates with the lead screw 7, the upper end of the lead screw 7 is fixed to the end stopper 16 of the lead screw, and the lower end of the lead screw 7 is fixed to the end effector 8, so The lower end of the end effector 8 is connected to the screw connecting rod 9, the lower end of the screw connecting rod 9 is connected to the lower moving platform 11 through the first Hooke hinge 10, the first moving platform connecting rod 14a and the second moving platform The upper ends of the two moving platform connecting rods 14b are respectively connected to the upper moving platform 6 through the second Hooke hinge 12 and the third Hooke hinge 13, and the first moving platform connecting rod 14a and the second moving platform connecting rod 14b are connected to each other. The lower end is connected with the lower moving platform 11 through a ball joint 15 .
当所述上动平台6与所述下动平台11处于平行位置时，所述丝杠7及所述丝杠连杆9与所述第一动平台连杆14a及第二动平台连杆14b从轴向看位于等腰或等边三角形的三个顶点处，且所述丝杠7轴心位于等腰或等边三角形的上顶点处。所述驱动装置1为整个动平台机构提供动力。所述第一同步带轮4a、第二同步带轮4b与所述同步带3配合，组成一个同步带机构。When the upper moving platform 6 and the lower moving platform 11 were in a parallel position, the leading screw 7 and the leading screw connecting rod 9 and the first moving platform connecting rod 14a and the second moving platform connecting rod 14b Seen from the axial direction, it is located at the three vertices of the isosceles or equilateral triangle, and the axis of the screw 7 is located at the upper vertex of the isosceles or equilateral triangle. The driving device 1 provides power for the entire moving platform mechanism. The first synchronous pulley 4a and the second synchronous pulley 4b cooperate with the synchronous belt 3 to form a synchronous belt mechanism.
所述丝杠螺母5固定于所述上动平台6上并与所述丝杠7配合，所述丝杠7上端固接所述丝杠末端挡块16，所述丝杠7下端固接所述末端执行件8，所述末端执行8下端连接所述丝杠连杆9，组成滚珠丝杠机构。The lead screw nut 5 is fixed on the upper moving platform 6 and cooperates with the lead screw 7, the upper end of the lead screw 7 is fixedly connected to the end stopper 16 of the lead screw, and the lower end of the lead screw 7 is fixedly connected to the The end effector 8 is described, and the lower end of the end effector 8 is connected with the screw rod 9 to form a ball screw mechanism.
本发明具有以下技术特点：The present invention has the following technical characteristics:
本发明中的动平台，对现有机器人(如六自由度并联机器人等)的由机器人臂控制的单一动平台进行了改造，将执行构件布置在下动平台上来实现末端执行机构的角度偏转增大的效果。当丝杠运动到特定位置时，可使上下两个动平台处于平行位置，丝杠及丝杠连杆与两动平台连杆的布置，从轴向看，三者位于一等腰三角形的三个顶点上，且丝杠轴线位于等腰三角形的上顶点上；丝杠的上下运动可带动下平台绕着球铰座的螺纹轴线相对上平台实现偏转，从而实现下平台在上平台偏转的基础上再发生一定角度的偏转，从而实现末端件偏转角度的增大，解决六自由度机器人末端偏转角度偏小的问题。The moving platform in the present invention transforms the single moving platform controlled by the robot arm of an existing robot (such as a six-degree-of-freedom parallel robot, etc.), and arranges the execution member on the lower moving platform to realize the increase of the angle deflection of the end actuator Effect. When the lead screw moves to a specific position, the upper and lower moving platforms can be in a parallel position. The arrangement of the lead screw and the connecting rod of the lead screw and the connecting rods of the two moving platforms, viewed from the axial direction, the three are located in the third position of an isosceles triangle. vertex, and the screw axis is located on the upper vertex of the isosceles triangle; the up and down movement of the screw can drive the lower platform to deflect relative to the upper platform around the thread axis of the ball joint seat, so as to realize the basis for the deflection of the lower platform on the upper platform. A certain angle of deflection occurs on the upper part, so as to realize the increase of the deflection angle of the end piece, and solve the problem that the end deflection angle of the six-degree-of-freedom robot is too small.
附图说明：Description of drawings:
图1 是本发明动平台机构的结构示意图；Fig. 1 is a structural representation of the moving platform mechanism of the present invention;
图2 是本发明动平台机构中同步带机构的结构示意图；Fig. 2 is the structural representation of synchronous belt mechanism in the moving platform mechanism of the present invention;
图3 是本发明动平台机构中滚珠丝杠机构的结构示意图；Fig. 3 is the structural representation of the ball screw mechanism in the moving platform mechanism of the present invention;
图4 是本发明动平台机构中丝杠与两动平台连杆布置结构示意图(上下动平台处于平行位置时的)。Fig. 4 is a schematic diagram of the arrangement structure of the lead screw and the connecting rods of the two moving platforms in the moving platform mechanism of the present invention (when the upper and lower moving platforms are in parallel position).
图中：1：驱动装置；2：电机支座；3：同步带；4a：第一同步带轮；4b：第二同步带轮；5：丝杠螺母；6：上动平台；7：丝杠；8：末端执行件；9：丝杠连杆；10：第一虎克铰；11：下动平台；12：第二虎克铰；13：第三虎克铰；14a：第一动平台连杆；14b：第二动平台连杆；15：球铰；16：丝杠末端挡块。In the figure: 1: driving device; 2: motor support; 3: synchronous belt; 4a: first synchronous pulley; 4b: second synchronous pulley; 5: lead screw nut; 6: upper moving platform; 7: wire Lever; 8: end actuator; 9: lead screw connecting rod; 10: first Hooke hinge; 11: lower moving platform; 12: second Hooke hinge; 13: third Hooke hinge; 14a: first moving Platform connecting rod; 14b: second moving platform connecting rod; 15: spherical hinge; 16: lead screw end stopper.
具体实施方式：detailed description:
下面结合附图对本发明作进一步说明：The present invention will be further described below in conjunction with accompanying drawing:
如图1、图2、图3、图4所示，本发明所提供的一种设有滚珠丝杠的动平台机构，该动平台机构包括同步带机构、滚珠丝杠机构、上动平台、下动平台、动平台连杆等，上下动平台、丝杠及丝杠连杆与动平台连杆形成闭环机构，且两动平台连杆的长度相同。As shown in Fig. 1, Fig. 2, Fig. 3 and Fig. 4, a moving platform mechanism provided by the present invention is provided with a ball screw, and the moving platform mechanism includes a synchronous belt mechanism, a ball screw mechanism, an upper moving platform, The lower moving platform, the connecting rod of the moving platform, etc., the upper and lower moving platform, the leading screw and the connecting rod of the leading screw and the connecting rod of the moving platform form a closed-loop mechanism, and the lengths of the connecting rods of the two moving platforms are the same.
如图1、图2、图3所示，所述第二同步带轮4b与所述丝杠螺母5内圈连接，所述第一同步带轮4a、第二同步带轮4b的轴线平行且端面在平行于所述上动平台6的同一平面上，同步带机构由所述驱动装置1驱动；所述丝杠螺母5固定于所述上动平台6上，所述第二同步带轮4b固接于所述丝杠螺母5的内圈，所述同步带3的转动带动所述第二同步带轮4b转动，从而带动所述丝杠7的上下运动，通过所述丝杠连杆9，带动所述下动平台11的偏转。As shown in Figures 1, 2 and 3, the second synchronous pulley 4b is connected to the inner ring of the screw nut 5, and the axes of the first synchronous pulley 4a and the second synchronous pulley 4b are parallel and The end face is on the same plane parallel to the upper moving platform 6, and the synchronous belt mechanism is driven by the drive device 1; the screw nut 5 is fixed on the upper moving platform 6, and the second synchronous pulley 4b Fixedly connected to the inner ring of the screw nut 5, the rotation of the timing belt 3 drives the rotation of the second timing pulley 4b, thereby driving the up and down movement of the screw 7, through the screw connecting rod 9 , driving the deflection of the lower moving platform 11 .
如图4所示，当动平台机构运动到上动平台6与下动平台11处于平行位置时，所述丝杠7与所述第一动平台连杆14a、第二动平台连杆14b，从轴向看位于等腰三角形的三个顶点处，且所述丝杠7的轴心到所述第一动平台连杆14a的轴心的距离A等于所述丝杠7的轴心到所述第二动平台连杆14b的轴心的距离B，即A＝B。As shown in Figure 4, when the moving platform mechanism moves to the parallel position between the upper moving platform 6 and the lower moving platform 11, the lead screw 7, the first moving platform connecting rod 14a, the second moving platform connecting rod 14b, Viewed from the axial direction, it is located at the three vertices of an isosceles triangle, and the distance A from the axis center of the lead screw 7 to the axis center of the first moving platform connecting rod 14a is equal to the distance A from the axis center of the lead screw 7 to the The distance B between the axes of the second moving platform connecting rod 14b is A=B.
以上示意性的对本发明及其实施方式进行了描述，该描述没有限制性，附图中所示的也只是本发明的实施方式之一，实际的结构并不局限于此。所以，如果本领域的普通技术人员受其启示，在不脱离本发明创造宗旨的情况下，不经创造性地设计出与该技术方案类似的结构方式及实施例，均应属于本发明的保护范围。The above schematically describes the present invention and its implementation, which is not restrictive, and what is shown in the drawings is only one of the implementations of the present invention, and the actual structure is not limited thereto. Therefore, if a person of ordinary skill in the art is inspired by it, without departing from the inventive concept of the present invention, without creatively designing structural methods and embodiments similar to the technical solution, all should belong to the protection scope of the present invention .
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| CN201710028714.7A CN106737599B (en) | 2017-01-16 | 2017-01-16 | A kind of moving platform mechanism equipped with ball-screw |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111409058A (en) * | 2020-03-12 | 2020-07-14 | 天津大学 | A parallel mechanism with two-dimensional translation |
| CN112549000A (en) * | 2020-12-22 | 2021-03-26 | 辰星（天津）自动化设备有限公司 | Six-axis robot moving platform and six-axis robot thereof |
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| CN112549000A (en) * | 2020-12-22 | 2021-03-26 | 辰星（天津）自动化设备有限公司 | Six-axis robot moving platform and six-axis robot thereof |
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| CN106737599B (en) | 2019-03-05 |
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