WO2024113074A1 - 并联机器人 - Google Patents

并联机器人 Download PDF

Info

Publication number
WO2024113074A1
WO2024113074A1 PCT/CN2022/134602 CN2022134602W WO2024113074A1 WO 2024113074 A1 WO2024113074 A1 WO 2024113074A1 CN 2022134602 W CN2022134602 W CN 2022134602W WO 2024113074 A1 WO2024113074 A1 WO 2024113074A1
Authority
WO
WIPO (PCT)
Prior art keywords
force
torque
parallel robot
output end
transmission
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2022/134602
Other languages
English (en)
French (fr)
Inventor
李学森
姜皓
王世全
胡少波
刘茂智
奚达
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Flexiv Robotics Technology Co Ltd
Flexiv Ltd
Original Assignee
Shanghai Flexiv Robotics Technology Co Ltd
Flexiv Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Flexiv Robotics Technology Co Ltd, Flexiv Ltd filed Critical Shanghai Flexiv Robotics Technology Co Ltd
Priority to PCT/CN2022/134602 priority Critical patent/WO2024113074A1/zh
Priority to US18/555,790 priority patent/US20250073918A1/en
Priority to EP22966679.7A priority patent/EP4628261A4/en
Priority to JP2025531163A priority patent/JP2025537943A/ja
Publication of WO2024113074A1 publication Critical patent/WO2024113074A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0004—Braking devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/003—Program-controlled manipulators having parallel kinematics
    • B25J9/0045—Program-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0051—Program-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators

Definitions

  • the present application relates to a robot, and in particular to a parallel robot.
  • Parallel robots such as Delta robots
  • a parallel robot is provided that can improve the breadth of applications.
  • a parallel robot comprises: a base, a moving platform, a plurality of branches, a plurality of driving devices, a plurality of transmission devices, a plurality of force/torque sensors and a control device, wherein:
  • the transmission device is connected to the base and includes an output end;
  • the plurality of branches are placed in parallel between the base and the moving platform, and each branch includes a first end connected to the output end and a second end connected to the moving platform;
  • Each driving device is connected to a transmission device and is used to drive the transmission device to move, so that the transmission device drives the branch chain to move;
  • Each force/torque sensing element is connected to an output end, and is used to sense the force and/or torque between the driving device and the output end and output the force and/or torque signal to the control device;
  • the control device is used to adjust the power of the driving device according to the force and/or torque sensed by the force/torque sensing device, the target force or displacement to be loaded on the dynamic platform and preset rules until the force and/or torque sensed by the force/torque sensing device matches the target force or displacement.
  • the transmission device includes a reducer, the reducer is connected to the output end, and the force/torque sensor is a torque sensor.
  • the reducer is a harmonic reducer.
  • the transmission speed ratio of the harmonic reducer is 50-120.
  • the base includes a support shaft
  • the reducer is connected to the support shaft
  • the transmission device also includes a cross roller bearing sleeved on the support shaft
  • the torque sensor is placed between the support shaft and the cross roller bearing.
  • the transmission device includes a guide member and a transmission member slidably connected to the guide member, the output end is slidably connected to the guide member and connected to the transmission member and the first end, the driving device drives the transmission member to move back and forth along the guide member in a straight line, and the force/torque sensing member is a force sensing member.
  • the parallel robot further includes a brake, and when the force or torque sensed by the force/torque sensor exceeds a preset range, the control device activates the brake to brake the drive device.
  • the number of the branches is 3.
  • the branch chain includes an active arm and a passive arm, and the output end is connected to one end of the active arm, the other end of the active arm is connected to one end of the passive arm, and the other end of the passive arm is connected to the moving platform.
  • control device is connected to the driving device via an electric wire, and both the control device and the driving device are fixed on a base.
  • the force and/or torque at the output end of the transmission device close to the branch chain can be obtained.
  • the power of the driving device can be adjusted according to the preset rules, so that the moving platform outputs the required target force or displacement. In this way, the force or displacement loaded on the moving platform can be controlled in real time, thereby increasing the application breadth of the parallel robot, such as polishing workpieces or massaging people.
  • FIG. 1 is a perspective view of a parallel robot according to an embodiment.
  • FIG. 2 is a three-dimensional view of the parallel robot in FIG. 1 after the protective cover is removed.
  • FIG. 3 is a schematic diagram showing the motion principle of a parallel robot in one embodiment.
  • FIG. 4 is a schematic diagram of the driving device and the transmission device in FIG. 2 .
  • FIG. 5 is a schematic diagram of a driving device and a transmission device in another embodiment.
  • first and second are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as “first” and “second” may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality” is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.
  • the terms “installed”, “connected”, “connected”, “fixed” and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined.
  • installed can be a fixed connection, a detachable connection, or an integral connection
  • it can be a mechanical connection or an electrical connection
  • it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined.
  • the specific meanings of the above terms in this application can be understood according to specific circumstances.
  • a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium.
  • a first feature being “above”, “above” or “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.
  • a first feature being “below”, “below” or “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.
  • a parallel robot 100 which includes a base 10, a moving platform 20, a plurality of branch chains 30, a plurality of driving devices 40, a plurality of transmission devices 50, a plurality of force/torque sensors 60 and a control device 70.
  • the transmission device 50 is connected to the base 10 and includes an output end 51.
  • the plurality of branch chains 30 are placed in parallel between the base 10 and the moving platform 20.
  • Each branch chain 30 includes a first end 31 connected to the output end 51 and a second end 32 connected to the moving platform 20.
  • Each driving device 40 is connected to a transmission device 50, and is used to drive the transmission device 50 to move, so that the transmission device 50 drives the branch chain 30 to move, thereby driving the moving platform 20 to move through the branch chain 30, so as to realize the corresponding action of the execution end on the moving platform 20, such as the grasping action.
  • Each force/torque sensor 60 is connected to an output end 51 of a transmission device 50, and is used to sense the force and/or torque between the drive device 40 and the output end 51 and output the force and/or torque signal to the control device 70.
  • the control device 70 is electrically connected to the drive device 40, and is used to adjust the power of the drive device 40 according to the force and/or torque sensed by the force/torque sensor 60, the target force or displacement to be loaded on the dynamic platform 20, and a preset rule until the force and/or torque sensed by the force/torque sensor 60 matches the target force or displacement.
  • the force and/or torque of the output end 51 near the branch chain 30 on the transmission device 50 can be obtained, and according to the structure of the branch chain 30 and the moving platform 20 and the relative position of the branch chain 30, the moving platform 20 and the output end 51, the force or displacement of the branch chain 30 and the moving platform 20 during movement, that is, the actual force or displacement output by the moving platform 20 can be obtained.
  • the preset movement rules of the above moving platform 20 can be pre-stored in the control device 70.
  • the control device 70 can adjust the power of the driving device 40 according to the preset rules, so that the moving platform 20 outputs the required target force or displacement. In this way, the force or displacement loaded on the moving platform 20 can be controlled in real time, thereby increasing the application breadth of the parallel robot 100, such as polishing workpieces or massaging people.
  • the control method of the parallel robot 100 can be implemented by position control (such as impedance control), force control (such as admittance control) or force-position mixed control, which can be selected according to the specific usage scenario and is not limited here.
  • the force/torque sensing element 60 at the output end 51 of the transmission device 50, the force and/or torque at the output end 51 of the transmission device 50 close to the branch chain 30 is obtained according to the force/torque sensing element 60, and the force or displacement output by the moving platform 20 can be accurately obtained.
  • the method of setting the sensing element 60 at the output end of the driving device 40 to calculate the force or displacement output by the moving platform 20 according to the output end of the driving device 40 and the method of calculating the force or displacement output by the moving platform 20 according to the driving power of the driving device 40, that is, the current of the driving device 40, the influence factor of the transmission loss between the output end of the driving device 40 and the output end 51 of the transmission device 50 is avoided, and the accuracy of the obtained force or displacement output by the moving platform 20 is improved, so as to more accurately control the force or displacement output by the moving platform 20.
  • the base 10 includes a triangular fixing base 11 and three protective covers 12 respectively covering three edges of the fixing base 11.
  • the number of the driving device 40, the transmission device 50 and the branch chain 30 are all 3. It can be understood that in other embodiments, the structure of the base 10 can be a regular shape such as a circle, a quadrilateral, or an irregular shape; the number of the driving device 40, the transmission device 50 and the branch chain 30 can also be more than 3, such as 4, 5, etc.
  • Each branch chain 30 includes an active arm 33 and a driven arm 34.
  • One end of the active arm 33 passes through the protective cover 12 transversely and is rotatably connected to the fixed seat 11, and the output end 51 of the transmission device 50 is connected to one end of the active arm 33, the other end of the active arm 33 is connected to one end of the driven arm 34, and the other end of the driven arm 34 is connected to the moving platform 20.
  • the branch chain 30 is configured as a branch chain configuration of a Delta-type parallel robot. It should be understood that the principles and spirit of the present application can also be applied to other various types of parallel robot configurations.
  • Each driving device 40 and a transmission device 50 are fixed in a protective cover 12.
  • the control device 70 and the driving device 40 are connected by wires and are both fixed in the protective cover 12.
  • the control device 70 and the driving device 40 are wirelessly connected and are spatially independent of the base 10.
  • Each control device 70 controls the corresponding driving device 40 to output a corresponding power
  • each driving device 40 drives the corresponding transmission device 50 to move, thereby causing the output end 51 of the transmission device 50 to drive the corresponding active arm 33 and the driven arm 34 to rotate, thereby realizing the movement of the moving platform 20, so as to realize the corresponding action of the execution end on the moving platform 20.
  • the driving device 40 and the transmission device 50 are located on one side of the active arm 33.
  • the driving device 40 is a servo motor
  • the transmission device 50 includes a reducer 52.
  • a support shaft 13 is provided inside the protective cover 12, and the servo motor and the reducer 52 are connected to the support shaft 13, and the reducer 52 is connected to the output end 51.
  • the above-mentioned force/torque sensor 60 is a torque sensor, and the torque sensor is connected between the reducer 52 and the output end 51.
  • the servo motor drives the reducer 52 to move, so as to drive the output end 51 and the first end 31 on the active arm 33 to rotate through the reducer 52, and the torque sensor is used to sense the torque when the output end 51 rotates.
  • the above-mentioned reducer 52 is a harmonic reducer. Since the harmonic reducer has the characteristics of large transmission speed ratio, high load-bearing capacity, high transmission accuracy, etc., the parallel robot 100 can have higher speed, higher rigidity and higher effective load, so that the force or displacement range that can be loaded on the moving platform 20 is larger, thereby further increasing the application breadth of the parallel robot 100. In one embodiment, the transmission speed ratio of the above-mentioned harmonic reducer is 50 to 120.
  • the transmission device 50 also includes a cross roller bearing 53 sleeved on the support shaft 13, and the torque sensor is placed between the support shaft 13 and the cross roller bearing 53.
  • a harmonic reducer with a clearance-free characteristic is used as the reducer 52, and on the other hand, the torque sensor is arranged between the reducer 52 and the output end 51, so that the torque output by the parallel robot 100 to each branch chain 30 can be accurately measured and controlled, so that the precise force control of the entire parallel robot 100 can be achieved.
  • the parallel robot 100 further includes a brake 80.
  • the brake 80 is connected to the protective cover 12 and is disposed near the drive device 40.
  • the control device 70 activates the brake 80 to brake the drive device 40.
  • the brake 80 can be used to brake the drive device 40 to decelerate or stop the execution end to prevent the execution end from being damaged.
  • the brake 80 can be used to brake the drive device 40 to stop the moving platform 20, thereby expanding the interactive capability of the parallel robot 100 with the environment.
  • the drive device 40 is a servo motor.
  • the brake 80 brakes the rotor of the servo motor at startup to decelerate or stop the servo motor, thereby decelerating or stopping the moving platform 20.
  • the transmission device 50 drives the first end 31 of the branch chain 30 to rotate.
  • the transmission device 50 ′ drives the first end of the branch chain to perform linear motion
  • the force/torque sensor 60 is a force sensor.
  • the transmission device 50 ′ includes a guide member 55 and a transmission member 56 slidably connected to the guide member 55.
  • the output end 51 ′ of the transmission device 50 ′ is slidably connected to the guide member 55 and connected to the transmission member 56 and the first end of the branch chain.
  • the driving device 40 ′ drives the transmission member 56 to perform linear motion back and forth along the guide member 55.
  • the output end 51 ′ is driven to perform linear motion back and forth along the guide member 55, thereby driving the first end of the branch chain to perform linear motion back and forth along the guide member 55 through the output end 51 ′.
  • the force sensor is connected between the transmission member 56 and the output end 51 ′, and is used to sense the force received by the output end 51 ′ when it moves along the guide member 55.
  • the second end of the branch chain is rotatably connected to the moving platform, and the first end of the branch chain also has a hinge structure between the second end.
  • the parallel robot 100 also includes a brake 80'.
  • the control device 70' activates the brake 80' to brake the driving device 40'.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

一种并联机器人(100)包括基座(10)、动平台(20)、多个支链(30)、多个驱动装置(40)、多个传输装置(50)、多个力/力矩感测件(60)及控制装置(70)，所述传输装置(50)与基座10连接，包括输出端(51)。每一支链(30)包括与输出端(51)连接的第一端(31)及与动平台(20)连接的第二端(32)，驱动装置(40)与传输装置(50)连接，用于驱动传输装置(50)运动，以使传输装置(50)驱动支链(30)运动，力/力矩感测件(60)与输出端(51)连接，用于感测驱动装置(40)与输出端(51)之间的力和/或力矩，控制装置(70)用于根据力/力矩感测件(60)感测的力和/或力矩、动平台(20)需加载的目标力或位移及预设规则调整驱动装置(40)的动力大小直至力/力矩感测件(60)感测的力和/或力矩与目标力或位移相匹配。

Description

并联机器人 技术领域
本申请涉及机器人，特别是涉及一种并联机器人。
背景技术
并联机器人，如Delta机器人，具有运动速度快、定位精确、成本低、效率高等特点，虽然已被广泛应用于食品、药品及电子产品的拣选、码垛和包装等工业操作中。
传统的并联机器人使用位置控制方式，使得上述应用仅局限于在不同位置之间移动物件，并联机器人的应用广度有待提高。
发明内容
根据一些实施例，提供一种可以提高应用广度的并联机器人。
一种并联机器人，包括：基座、动平台、多个支链、多个驱动装置、多个传输装置、多个力/力矩感测件及控制装置，其中：
所述传输装置与基座连接，包括输出端；
所述多个支链并联地置于所述基座与所述动平台之间，每一支链包括与所述输出端连接的第一端及与所述动平台连接的第二端；
每一驱动装置与一个传输装置连接，用于驱动所述传输装置运动，以使所述传输装置驱动所述支链运动；
每一力/力矩感测件与一个输出端连接，用于感测驱动装置与输出端之间的 力和/或力矩并将该力和/或力矩信号输出至控制装置；
所述控制装置用于根据所述力/力矩感测件感测的力和/或力矩、所述动平台需加载的目标力或位移及预设规则调整所述驱动装置的动力大小直至所述力/力矩感测件感测的力和/或力矩与所述目标力或位移相匹配。
在其中一个实施例中，所述传输装置包括减速器，所述减速器与所述输出端连接，所述力/力矩感测件为力矩感测件。
在其中一个实施例中，所述减速器为谐波减速器。
在其中一个实施例中，所述谐波减速器的传动速比为50～120。
在其中一个实施例中，所述基座包括支撑轴，所述减速器连接于所述支撑轴上，所述传输装置还包括套设于所述支撑轴的交叉滚柱轴承，所述力矩感测件置于所述支撑轴与所述交叉滚柱轴承之间。
在其中一个实施例中，所述传输装置包括导向件及滑动连接于所述导向件上的传动件，所述输出端滑动地连接于导向件上且与所述传动件及所述第一端连接，所述驱动装置驱动所述传动件沿所述导向件来回直线运动，所述力/力矩感测件为力感测件。
在其中一个实施例中，上述并联机器人还包括制动器，当所述力/力矩感测件感测的力或力矩超出预设范围时，所述控制装置启动所述制动器以制动所述驱动装置。
在其中一个实施例中，所述支链的数量为3个。
在其中一个实施例中，所述支链包括主动臂及从动臂，并且所述输出端连接于所述主动臂的一端，所述主动臂的另一端与所述从动臂的一端连接，所述从动臂的另一端与所述动平台连接。
在其中一个实施例中，所述控制装置与所述驱动装置通过电线连接，且所 述控制装置与所述驱动装置均固定于基座上。
上述并联机器人中，由于力/力矩感测件的设置，可获取传输装置上靠近支链的输出端的力和/或力矩，可在动平台实际输出的力或位移与动平台需加载的目标力或位移存在差别时，根据预设规则调整驱动装置的动力大小，从而使动平台输出所需的目标力或位移。如此，使动平台上加载的力或位移实时可控，从而增加并联机器人的应用广度，如对工件进行抛光或给人进行按摩等。
本申请的一个或多个实施例的细节在下面的附图和描述中提出。本申请的其它特征、目的和优点将从说明书、附图以及权利要求书变得明显。
附图说明
为了更清楚地说明本申请实施例或传统技术中的技术方案，下面将对实施例或传统技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据公开的附图获得其他的附图。
图1为一实施例的并联机器人的立体图。
图2为图1中的并联机器人去除保护罩后的立体图。
图3为一实施方式中并联机器人运动的原理图。
图4为图2中的驱动装置及传输装置的示意图。
图5为另一实施方式中驱动装置及传输装置的示意图。
具体实施例
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是 全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本申请的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅 仅表示第一特征水平高度小于第二特征。
需要说明的是，当元件被称为“固定于”或“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“上”、“下”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。
请参阅图1至图3，根据本申请的一个实施例，提供了一种并联机器人100，其包括基座10、动平台20、多个支链30、多个驱动装置40、多个传输装置50、多个力/力矩感测件60及控制装置70。传输装置50与基座10连接，包括输出端51。多个支链30并联地置于基座10与动平台20之间。每一支链30包括与输出端51连接的第一端31及与动平台20连接的第二端32。每一驱动装置40与一个传输装置50连接，用于驱动传输装置50运动，以使传输装置50驱动支链30运动，从而通过支链30带动动平台20运动，以实现动平台20上的执行端的相应动作，如抓取动作。每一个力/力矩感测件60与一个传输装置50的输出端51连接，用于感测驱动装置40与输出端51之间的力和/或力矩并将该力和/或力矩信号输出至控制装置70。控制装置70与驱动装置40电连接，用于根据力/力矩感测件60感测的力和/或力矩、动平台20需加载的目标力或位移及预设规则调整驱动装置40的动力大小直至力/力矩感测件60感测的力和/或力矩与目标力或位移相匹配。
上述并联机器人100中，通过设置力/力矩感测件60，可获取传输装置50上靠近支链30的输出端51的力和/或力矩，并根据支链30、动平台20的结构及支链30、动平台20与输出端51的相对位置，可获得支链30及动平台20运动时的力或位移，即动平台20实际输出的力或位移。上述动平台20的预设运 动规则可预先存储于控制装置70中，控制装置70可在动平台20实际输出的力或位移与动平台20需加载的目标力或位移存在差别时，根据预设规则调整驱动装置40的动力大小，从而使动平台20输出所需的目标力或位移。如此，使动平台20上加载的力或位移实时可控，从而增加并联机器人100的应用广度，如对工件进行抛光或给人进行按摩等。其中，并联机器人100的控制方式可采用位置控制(例如阻抗控制)、力控制(例如导纳控制)或者力位混合控制的方式实现，根据具体使用场景选用，在此不做限制。
另外，通过将力/力矩感测件60设置在传输装置50的输出端51，根据力/力矩感测件60获取传输装置50上靠近支链30的输出端51的力和/或力矩，可精准地获取动平台20输出的力或位移。与将感测件60设置在驱动装置40的输出端以根据驱动装置40的输出端计算动平台20输出的力或位移的方式，以及根据驱动装置40的驱动功率，也即驱动装置40的电流，计算动平台20输出的力或位移的方式相比，避免了从驱动装置40的输出端到传输装置50的输出端51之间的传输损耗的影响因素，提高了获取的动平台20输出的力或位移的精度，从而更精确地控制动平台20输出的力或位移。
参照图1和图2，在一实施例中，基座10包括三角形的固定座11及分别包覆于固定座11的三个边缘的三个保护罩12。驱动装置40、传输装置50及支链30的数量均为3个。可以理解，在其他实施方式中，基座10的结构可为圆形、四边形等规则形状，也可为不规则形状；驱动装置40、传输装置50及支链30的数量也可多余3个，为4个，5个等。
每一支链30包括主动臂33及从动臂34。主动臂33的一端横向穿过保护罩12与固定座11转动连接，并且传输装置50的输出端51连接于主动臂33的一端，主动臂33的另一端与从动臂34的一端连接，从动臂34的另一端与动平台 20连接。在图1和图2所示的实施例中，支链30被配置为Delta型并联机器人的支链构型，应当理解，本申请的原理和精神也可以应用于其他各种类型的并联机器人构型。
每一驱动装置40及一传输装置50固定于一保护罩12内。参阅图3，在一实施例中，控制装置70与驱动装置40通过电线连接，均固定于保护罩12内。在另一实施例中，控制装置70与驱动装置40无线连接，与基座10在空间上相互独立设置。每一控制装置70控制对应的驱动装置40输出对应的动力大小，每一驱动装置40驱动对应的传输装置50运动，进而使传输装置50的输出端51带动对应的主动臂33及从动臂34转动，从而实现动平台20的运动，以实现动平台20上的执行端的相应动作。
参阅图2及图4，在一实施方式中，驱动装置40及传输装置50位于主动臂33的一侧。驱动装置40为伺服电机，传输装置50包括减速器52。保护罩12内部设置有支撑轴13，伺服电机及减速器52连接于支撑轴13上，且减速器52与输出端51连接。上述力/力矩感测件60为力矩感测件，力矩感测件连接于减速器52与输出端51之间。在此种方式下，伺服电机驱动减速器52运动，以通过减速器52带动输出端51及主动臂33上的第一端31转动，力矩感测件用于感测输出端51转动时的力矩。进一步地，上述减速器52为谐波减速器。由于谐波减速器具有传动速比大、承载能力高、传动精度高等特点，可使并联机器人100具有更高的速度、更高的刚度和更高的有效载荷，从而使动平台20上可加载的力或位移范围更大，从而进一步增加并联机器人100的应用广度。在一实施方式中，上述谐波减速器的传动速比为50～120。在一实施方式中，传输装置50还包括套设于支撑轴13的交叉滚柱轴承53，力矩感测件置于支撑轴13与交叉滚柱轴承53之间。在本实施例中，一方面采用具有无游隙特性谐波减速器 作为减速器52，另一方面将力矩感测件设置在减速器52和输出端51之间，使得并联机器人100输出至每个支链30的力矩可以得到精确的测量和控制，从而可以实现整个并联机器人100的精确力控。
在一实施例中，并联机器人100还包括制动器80。制动器80连接于保护罩12，并靠近驱动装置40设置。当上述力矩感测件感测的力矩超出预设范围时，控制装置70启动制动器80以制动驱动装置40。如此，在动平台20上的执行端受到意外冲击时，可通过制动器80制动驱动装置40使执行端减速运动或停止运动，以防止执行端受到损坏。如在动平台20移动过程中，碰到障碍物时，通过制动器80制动驱动装置40可使动平台20停止运动，从而拓展了并联机器人100与环境的交互能力。具体地，驱动装置40为伺服电机，当力矩感测件感测的力矩超出预设范围时，制动器80在启动时制动伺服电机的转子，使伺服电机减速或停止运动，从而使动平台20减速或停止运动。
图2及图4所示的实施例中，传输装置50带动支链30的第一端31转动，请参阅图5，在另一实施例中，传输装置50’是带动支链的第一端进行直线运动，上述力/力矩感测件60为力感测件。具体地，传输装置50’包括导向件55及滑动连接于导向件55上的传动件56，传输装置50’的输出端51’滑动地连接于导向件55上且与传动件56及支链的第一端连接。驱动装置40’驱动传动件56沿导向件55来回直线运动，传动件56运动时带动输出端51’沿导向件55来回直线运动，从而通过输出端51’带动支链的第一端沿导向件55来回直线运动。力感测件连接于传动件56与输出端51’之间，用于感测输出端51’沿导向件55运动时受到的力。在此实施方式中，支链的第二端与动平台转动连接，支链的第一端于第二端之间还具有铰接结构。驱动装置40’驱动传动件56沿导向件55运动时，支链的第一端随传动件56沿导向件55运动的同时还通过铰接结构相对传动件56 转动，从而使支链的第二端也具有直线运动和转动运动，以带动动平台运动。与图4所示的实施方式相似，在如图5所示的实施方式中，并联机器人100也包括制动器80’，当上述力感测件感测的力超出预设范围时，控制装置70’启动制动器80’以制动驱动装置40’。
尽管已经描述了示例性实施例的某些特征和方面，但是本领域技术人员可认识到许多修改是可能的。例如，可以使用硬件组件，软件组件和/或其任何组合来实现本申请描述的方法和过程。此外，尽管针对特定的结构和/或功能组件对各种方法和过程进行了描述，由上述各种实施例提供的方法不限于任何特定的结构和/或功能架构，而是可以在任何合适的硬件，固件和/或软件配置上实现。类似地，尽管将某些功能归因于某些系统组件，除非上下文另有指示，否则根据几个实施例，可以将该功能分布在各种其他系统组件之间。
此外，为了便于描述，尽管以特定顺序描述了本申请的方法和过程，除非上下文另有指示，否则根据各种实施例，可以对各种过程进行重新排序，添加和/或省略。而且，关于一种方法或过程描述的过程可以被并入其他描述的方法或过程中；然而，本申请并不限于此。同样地，根据特定结构架构和/或相对于一个系统描述的组件可以以替代性的结构进行组织和/或并入其他所述的系统中。因此，尽管描述了具有或不具有某些特征的各种实施例，但是本文中针对特定实施例描述的各种组件和/或特征可以被替换、添加和/或去除，除非上下文另有指示。因此，尽管上面描述了几个示例性实施例，但是应当理解，本发明旨在覆盖所附权利要求范围内的所有修改和等同形式。

Claims (10)

  1. 一种并联机器人，其特征在于，包括基座、动平台、多个支链、多个驱动装置、多个传输装置、多个力/力矩感测件及控制装置，其中：
    所述传输装置与基座连接，包括输出端；
    所述多个支链并联地置于所述基座与所述动平台之间，每一支链包括与所述输出端连接的第一端及与所述动平台连接的第二端；
    每一驱动装置与一个传输装置连接，用于驱动所述传输装置运动，以使所述传输装置驱动所述支链运动；
    每一力/力矩感测件与一个输出端连接，用于感测驱动装置与所述输出端之间的力和/或力矩并将该力和/或力矩信号输出至所述控制装置；
    所述控制装置用于根据所述力/力矩感测件感测的力和/或力矩、所述动平台需加载的目标力或位移及预设规则调整所述驱动装置的动力大小直至所述力/力矩感测件感测的力和/或力矩与所述目标力或位移相匹配。
  2. 根据权利要求1所述的并联机器人，其特征在于，所述传输装置包括减速器，所述减速器与所述输出端连接，所述力/力矩感测件为力矩感测件。
  3. 根据权利要求2所述的并联机器人，其特征在于，所述减速器为谐波减速器。
  4. 根据权利要求3所述的并联机器人，其特征在于，所述谐波减速器的传动速比为50～120。
  5. 根据权利要求2所述的并联机器人，其特征在于，所述基座包括支撑轴，所述减速器连接于所述支撑轴上，所述传输装置还包括套设于所述支撑轴的交叉滚柱轴承，所述力矩感测件置于所述支撑轴与所述交叉滚柱轴承之间。
  6. 根据权利要求1所述的并联机器人，其特征在于，所述传输装置包括导向 件及滑动连接于所述导向件上的传动件，所述输出端滑动地连接于导向件上且与所述传动件及所述第一端连接，所述驱动装置驱动所述传动件沿所述导向件来回直线运动，所述力/力矩感测件为力感测件。
  7. 根据权利要求1所述的并联机器人，其特征在于，还包括制动器，当所述力/力矩感测件感测的力或力矩超出预设范围时，所述控制装置启动所述制动器以制动所述驱动装置。
  8. 根据权利要求1所述的并联机器人，其特征在于，所述支链的数量为3个。
  9. 根据权利要求1所述的并联机器人，其特征在于，所述支链包括主动臂及从动臂，并且所述输出端连接于所述主动臂的一端，所述主动臂的另一端与所述从动臂的一端连接，所述从动臂的另一端与所述动平台连接。
  10. 根据权利要求1所述的并联机器人，其特征在于，所述控制装置与所述驱动装置通过电线连接，且所述控制装置与所述驱动装置均固定于基座上。
PCT/CN2022/134602 2022-11-28 2022-11-28 并联机器人 Ceased WO2024113074A1 (zh)

Priority Applications (4)

Application Number Priority Date Filing Date Title
PCT/CN2022/134602 WO2024113074A1 (zh) 2022-11-28 2022-11-28 并联机器人
US18/555,790 US20250073918A1 (en) 2022-11-28 2022-11-28 Parallel robot
EP22966679.7A EP4628261A4 (en) 2022-11-28 2022-11-28 PARALLEL ROBOT
JP2025531163A JP2025537943A (ja) 2022-11-28 2022-11-28 パラレルリンクロボット

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2022/134602 WO2024113074A1 (zh) 2022-11-28 2022-11-28 并联机器人

Publications (1)

Publication Number Publication Date
WO2024113074A1 true WO2024113074A1 (zh) 2024-06-06

Family

ID=91322682

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/134602 Ceased WO2024113074A1 (zh) 2022-11-28 2022-11-28 并联机器人

Country Status (4)

Country Link
US (1) US20250073918A1 (zh)
EP (1) EP4628261A4 (zh)
JP (1) JP2025537943A (zh)
WO (1) WO2024113074A1 (zh)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104385266A (zh) * 2014-08-28 2015-03-04 北京邮电大学 七自由度外骨骼式遥操作主手
CN204868856U (zh) * 2015-08-14 2015-12-16 深圳市德富莱自动化设备有限公司 Delta并联机器人
CN108972507A (zh) * 2018-07-30 2018-12-11 燕山大学 一种具有两转动自由度的冗余驱动球面并联机构
WO2019039131A1 (ja) * 2017-08-23 2019-02-28 ソニー株式会社 パラレルリンク装置並びにマスタ－スレーブシステム
CN115175790A (zh) * 2020-03-11 2022-10-11 苏州迈澜科技有限公司 多自由度并联机构和并联机构组件
CN115227559A (zh) * 2022-07-11 2022-10-25 邱晨 柔性并联理疗执行装置和物理治疗设备

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4659098B2 (ja) * 2009-02-13 2011-03-30 ファナック株式会社 ３自由度を有する姿勢変更機構を備えたパラレルリンクロボット
DE112010003206A5 (de) * 2009-08-04 2012-05-24 Majatronic Gmbh Parallelroboter
JP6053424B2 (ja) * 2012-09-25 2016-12-27 キヤノン株式会社 ロボット装置、ロボット制御方法、プログラム及び記録媒体
EP2952300A1 (en) * 2014-06-05 2015-12-09 Aldebaran Robotics Collision detection
JP6823007B2 (ja) * 2018-04-27 2021-01-27 ファナック株式会社 パラレルリンクロボット
DE102018117802A1 (de) * 2018-07-24 2020-01-30 Krones Aktiengesellschaft Verfahren und Steuerungssystem zur Kalibrierung einer Handhabungsvorrichtung, insbesondere eines Parallelkinematik-Roboters
CN115194733A (zh) * 2022-07-11 2022-10-18 邱晨 柔性并联机器人控制方法、装置和柔性并联机器人

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104385266A (zh) * 2014-08-28 2015-03-04 北京邮电大学 七自由度外骨骼式遥操作主手
CN204868856U (zh) * 2015-08-14 2015-12-16 深圳市德富莱自动化设备有限公司 Delta并联机器人
WO2019039131A1 (ja) * 2017-08-23 2019-02-28 ソニー株式会社 パラレルリンク装置並びにマスタ－スレーブシステム
CN108972507A (zh) * 2018-07-30 2018-12-11 燕山大学 一种具有两转动自由度的冗余驱动球面并联机构
CN115175790A (zh) * 2020-03-11 2022-10-11 苏州迈澜科技有限公司 多自由度并联机构和并联机构组件
CN115227559A (zh) * 2022-07-11 2022-10-25 邱晨 柔性并联理疗执行装置和物理治疗设备

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4628261A4 *

Also Published As

Publication number Publication date
EP4628261A4 (en) 2025-12-31
EP4628261A1 (en) 2025-10-08
US20250073918A1 (en) 2025-03-06
JP2025537943A (ja) 2025-11-20

Similar Documents

Publication Publication Date Title
CN115870952A (zh) 并联机器人
US9647513B2 (en) Actuator unit, robot including the same, and reducing apparatus
US10434646B2 (en) Robot control apparatus, robot, and robot system
US12533795B2 (en) Systems and methods for actuation of a robotic manipulator
AU2022245984A1 (en) An integrated mobile manipulator robot
US8661929B2 (en) Device for generating stiffness and method for controlling stiffness and joint of robot manipulator comprising the same
US11660746B2 (en) Separate moving and positioning modes for a robot, method providing separate moving and positioning modes for the robot, method of manufacturing a product, and a recording medium
US9950427B2 (en) Robot, control apparatus, and robot system
US20160101526A1 (en) Robot and robot joint mechanism
JP6633587B2 (ja) ロボットの構成部材の速度を制限する制御装置
CN101687320B (zh) 利用旋转驱动器的机器人操作器
US12138796B2 (en) Torque control of a motor
JP6417034B2 (ja) コボティックマニピュレーター
KR20190121822A (ko) 로봇 아암
US20230182300A1 (en) Systems and methods for robot collision avoidance
US10035265B2 (en) Manipulator
WO2024113074A1 (zh) 并联机器人
JP7082365B2 (ja) パラレルリンクロボット
CN215284540U (zh) 一种卷形物料搬运的机器人
CN121866198A (zh) 用于自动引导车辆的车轮单元和自动引导车辆
CN115087524A (zh) 机器人臂机构
CN215356695U (zh) 一种双并联机器人组合的激光加工设备
JP2025088085A (ja) 検出方法、ロボットシステムおよびプログラム
CN119489458A (zh) 机器人控制装置、控制方法和非暂时性存储介质
CN116604586A (zh) 一种机器人及其控制方法

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 18555790

Country of ref document: US

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22966679

Country of ref document: EP

Kind code of ref document: A1

WWP Wipo information: published in national office

Ref document number: 18555790

Country of ref document: US

ENP Entry into the national phase

Ref document number: 2025531163

Country of ref document: JP

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 2025531163

Country of ref document: JP

WWE Wipo information: entry into national phase

Ref document number: 2022966679

Country of ref document: EP

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2022966679

Country of ref document: EP

Effective date: 20250630

WWP Wipo information: published in national office

Ref document number: 2022966679

Country of ref document: EP