CN109176492A - A kind of manipulator based on restructural parallel institution - Google Patents
A kind of manipulator based on restructural parallel institution Download PDFInfo
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- CN109176492A CN109176492A CN201811324894.4A CN201811324894A CN109176492A CN 109176492 A CN109176492 A CN 109176492A CN 201811324894 A CN201811324894 A CN 201811324894A CN 109176492 A CN109176492 A CN 109176492A
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- electric pushrod
- connecting rod
- manipulator
- parallel institution
- lower platform
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to machinery equipment field, and the purpose is to provide a kind of manipulator based on restructural parallel institution, for clamping the various application occasions such as object and pipeline climbing, and clamping space is big, and posture is flexible and changeable.The manipulator includes upper mounting plate and lower platform, the upper mounting plate is connect by the identical branch of three structures with the lower platform, the upper mounting plate includes the first electric pushrod (1), the second electric pushrod (2) and third electric pushrod (3), the one end of the both ends of first electric pushrod (1) respectively with one end of second electric pushrod (2) and the third electric pushrod (3) is rotatably connected, and the other end of second electric pushrod (2) and the other end of the third electric pushrod (3) constitute clamping portion.Manipulator provided by the invention solves that existing manipulator function is relatively simple, the small problem of the scope of application.
Description
Technical field
The present invention relates to mechanized equipment technical fields, more particularly to a kind of manipulator based on restructural parallel institution.
Background technique
Manipulator refers to the certain holding functions that can imitate manpower and arm, to by fixed routine clamping, carrying object
Or the automatic pilot of operational instrument, the heavy labor of people can be replaced to realize the mechanization and automation of production, mentioned significantly
High working efficiency, and can operate under hostile environment to protect personal safety, thus it is widely used in machine-building, smelting
The departments such as gold, electronics, light industry and atomic energy.Manipulator is mainly by executing agency, driving mechanism and control system three parts group
At.Executing agency is the component for clamping object, according to by the shape of clamping object, size, material and job requirements, can be divided
For clamp-type, holding type and absorbent-type.Driving mechanism makes hand completion rotation, movement or compound motion realize compulsory exercise,
To achieve the purpose that adjust position of manipulator and posture.The parameter that control system is used to control dynamical element in driving mechanism is real
Now specific movement.
Manipulator controls the difference of connection type according to it, can be divided into parallel institution manipulator and serial mechanism manipulator.
Parallel institution has the characteristics that bearing capacity is strong, positioning accuracy is high, dynamic property is good compared with serial mechanism, to obtain more next
More wide application.
Existing parallel institution manipulator function is relatively simple, application surface is narrow, such as Chinese patent literature CN102528817A
In disclose a kind of Three-degree-of-freedom parallel-connection mechanical wrist, by base, moving platform and a Constraints driven branch for connecting them
Driving branch identical with two structures is constituted, and three branch both ends are symmetrical in equilateral triangle with base and moving platform,
Middle Constraints driven branch is made of two revolute pairs and a driving prismatic pair, constitutes RPR type cascaded structure branch, and pass through
Revolute pair and base and moving platform connect.Two identical driving branches are by a universal pair, a mobile driving is secondary and
One flexural pivot composition constitutes UPS type cascaded structure branch, and is connect by universal pair with base, passes through flexural pivot and moving platform
Connection.This mechanical wrist needs in addition to be equipped with mechanical palms and is just able to achieve the clamping function in certain moving range, and i.e.
Just mechanical palms are mounted with, since only there are two driving branch driving upper mounting plate movement, this mechanical clamping space and appearances
State variation is also very limited, so that its operating flexibility is lower, the occasion that can be applicable in is seldom.
Summary of the invention
For this purpose, the manipulator function technical problem to be solved by the present invention lies in the prior art is relatively simple, it is applicable in model
Enclose it is small, and provide it is a kind of integrate clamping, climbing function, clamping space is big, and posture is flexible and changeable based on restructural parallel connection
The manipulator of mechanism.
In order to solve the above technical problems, The technical solution adopted by the invention is as follows:
A kind of manipulator based on restructural parallel institution, including upper mounting plate and lower platform, the upper mounting plate pass through branch
It is connect with the lower platform, which is characterized in that the upper mounting plate includes that the first electric pushrod, the second electric pushrod and third are electronic
Push rod, the both ends of first electric pushrod respectively with one end of second electric pushrod and the third electric pushrod one
End is rotatably connected, and the other end of the other end of second electric pushrod and the third electric pushrod constitutes clamping portion.
Preferably, the clamping portion includes that the first briquetting of the second electric pushrod other end is arranged in and is arranged in institute
State the second briquetting of the third electric pushrod other end.
Preferably, the opposite face of first briquetting and second briquetting is provided with electromagnet.
Preferably, the lower platform be spherical five-bar mechanisms, including be successively rotatably connected first connecting rod, second connect
Bar, third connecting rod, fourth link and the 5th connecting rod.
Preferably, the first connecting rod, the second connecting rod, the third connecting rod, the fourth link and the described 5th
The connection of lower platform revolute pair is passed sequentially through between connecting rod, the axis of each lower platform revolute pair intersects at the centre of sphere, wherein having
Two lower platform revolute pairs are also connected with two driving inputs respectively.
Preferably, the lower platform revolute pair connection driving between the first connecting rod and the 5th connecting rod is defeated
Enter, another driving input of the lower platform revolute pair connection between the third connecting rod and the fourth link.
Preferably, the branch is three groups, and branch described in every group includes hydraulic-driven bar, is set to the hydraulic-driven
The spherical pair of bar upper end and the universal joint for being set to hydraulic-driven bar lower end.
Preferably, the upper end of three hydraulic-driven bars electronic is pushed away with described first by the spherical pair respectively
Bar, second electric pushrod are connected with the base of the third electric pushrod, the lower end institute of three hydraulic-driven bars
Universal joint is stated to be connected with the first connecting rod, the third connecting rod and the fourth link respectively.
Preferably, the first connecting rod is rack.
Preferably, the both ends of first electric pushrod are electric with one end of second electric pushrod and the third respectively
One end of dynamic push rod is connected by upper mounting plate revolute pair.
The above technical solution of the present invention has the following advantages over the prior art:
(1) manipulator provided by the invention based on restructural parallel institution, upper mounting plate mainly include first electronic pushing away
Bar, the second electric pushrod and third electric pushrod, three electric pushrods, which cooperate, carries out stretching motion, can change triangle
The size of upper mounting plate enables its clamping portion to move in larger space, expands the opereating specification of manipulator, and in machinery
When hand is climbed, by the flexible of three electric pushrods, change the size of upper mounting plate, the pipeline of different inner diameters can be suitable for
Climb operation.
(2) manipulator provided by the invention based on restructural parallel institution, in the opposite of the first briquetting and the second briquetting
Face is provided with electromagnet, on the one hand can guarantee the stability of clamping process by being powered to electromagnet when clamping metal object
And fastness, it prevents since clip position is not good enough, caused object drops damage；On the other hand it is carried out in mechanical hand-motion carrier
When climbing, by electromagnet energization the first briquetting and the second briquetting can be pulled together, thus limit the first briquetting and
The relative motion of second briquetting makes upper mounting plate constitute triangle scaling device, is supported on inner wall of the pipe, guarantees that manipulator can be smoothly
It is climbed.
(3) manipulator provided by the invention based on restructural parallel institution, lower platform use spherical five-bar mechanisms, due to
Each locus of points is spherical curve on each movable part of spherical five-bar mechanisms, and manipulator can be helped real in a big way
Existing different types of clamping posture, so that manipulator can more dexterous manipulation to a variety of objects.
(4) manipulator provided by the invention based on restructural parallel institution, there are two certainly for lower platform spherical five-bar mechanisms
By spending, flexible movements, Work Space Range is big.Meanwhile two lower platform revolute pairs should be connected with two driving inputs respectively,
Guarantee that mechanism has the condition for determining movement.
(5) manipulator provided by the invention based on restructural parallel institution, based on classical stewart parallel institution mould
Type integrates the multifunction manipulator of clamping object and inner wall of the pipe climbing, can be applied to pipe robot, reconnaissance robot
Etc. a variety of occasions, by driving the briquetting of locked input motor and the first briquetting of upper mounting plate and the second briquetting to be attracted restricted part certainly
By spending, manipulator, which can be carried out, to be reconstructed and is switched to different functional status, and overall structure is simple, mechanism light, movement spirit
It is living, strong applicability.
Detailed description of the invention
In order to make the content of the present invention more clearly understood, it below according to specific embodiments of the present invention and combines
Attached drawing, the present invention is described in further detail, wherein
Fig. 1 is the manipulator original state schematic diagram the present invention is based on restructural parallel institution；
Fig. 2 is that the present invention is based on the manipulators of restructural parallel institution to clamp object state schematic diagram；
Fig. 3 is the manipulator briquetting attracting state schematic diagram the present invention is based on restructural parallel institution；
Fig. 4 is that the present invention is based on the manipulators of restructural parallel institution to climb status diagram.
Appended drawing reference indicates in figure are as follows: the first electric pushrod of 1-, the second electric pushrod of 2-, 3- third electric pushrod, 4- the
One briquetting, the second briquetting of 5-, 6- first connecting rod, 7- second connecting rod, 8- third connecting rod, 9- fourth link, the 5th connecting rod of 10-, 11-
Spherical pair, 12- hydraulic-driven bar, 13- universal joint, 14- upper mounting plate revolute pair, 15- lower platform revolute pair.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, being a kind of preferred embodiment of the manipulator based on restructural parallel institution of the present invention.The machinery
Hand includes upper mounting plate and lower platform, and the upper mounting plate is connect by branch with the lower platform.The upper mounting plate includes the first electricity
Dynamic push rod 1, the second electric pushrod 2 and third electric pushrod 3, the both ends of first electric pushrod 1 are electric with described second respectively
One end of dynamic push rod 2 and one end of the third electric pushrod 3 are rotatably connected.Pass through first electric pushrod 1, described
Two electric pushrods 2 and the mutually matched stretching motion of the third electric pushrod 3 can make the upper mounting plate realize larger range
Malformation, increase the opereating specification of manipulator.Specifically, the both ends of first electric pushrod 1 are respectively with described second
One end of electric pushrod 2 and one end of the third electric pushrod 3 are connected by upper mounting plate revolute pair 14.
The other end of the other end of second electric pushrod 2 and the third electric pushrod 3 collectively forms clamping portion.?
In the present embodiment, the clamping portion includes that the first briquetting 4 of 2 other end of the second electric pushrod is arranged in and is arranged described
Second briquetting 5 of 3 other end of third electric pushrod is provided with electricity in the opposite face of first briquetting 4 and second briquetting 5
Magnet.
The lower platform is spherical five-bar mechanisms, including first connecting rod 6, the second connecting rod 7, third being successively rotatably connected
Connecting rod 8, fourth link 9 and the 5th connecting rod 10.In the first connecting rod 6, second connecting rod 7, the third connecting rod 8, described
Fourth link 9 and the 5th connecting rod 10 form a circle (crossing the section of the centre of sphere for one i.e. in spherical shape) after being sequentially connected.It needs
To illustrate that in mechanism kinematic, the first connecting rod 6, the second connecting rod 7, the third connecting rod 8, the fourth link
9 and the 5th connecting rod 10 on each locus of points be all spherical curve (on concentric spherical), can help in this way manipulator compared with
Different types of clamping posture is realized in big moving range.
Specifically, the first connecting rod 6, the second connecting rod 7, the third connecting rod 8, the fourth link 9 and described
The connection of lower platform revolute pair 15 is passed sequentially through between 5th connecting rod 10, the axis of each lower platform revolute pair 15 intersects at ball
The heart, wherein there are two the lower platform revolute pairs 15 also to connect respectively with two driving inputs.In the present embodiment, described first
The lower platform revolute pair 15 between connecting rod 6 and the 5th connecting rod 10 connects driving input, the third connecting rod 8 with
The lower platform revolute pair 15 between the fourth link 9 connects another driving input, and the driving input is motor.
For the convenience of description, will be described in the lower platform revolute pair 15 connects between the first connecting rod 6 and the 5th connecting rod 10
Driving input is further named as S1, and lower platform revolute pair 15 described between the third connecting rod 8 and the fourth link 9 is connected
Another driving input connect is further named as S2.When manipulator is in clamping object state, pass through motor control S1
With the rotation of S2, and then connect with S1 and S2 two rotations of lower platform revolute pairs 15 are driven, to change manipulator not
Same position and clamping posture.
The branch is three groups and structure is identical, and branch described in every group includes hydraulic-driven bar 12, is set to the liquid
It presses the spherical pair 11 of 12 upper end of drive rod and is set to the universal joint 13 of 12 lower end of hydraulic-driven bar.Specifically, choosing institute
Stating first connecting rod 6 is rack, and the upper end of three hydraulic-driven bars 12 is by the spherical pair 11 respectively with described first
Electric pushrod 1, second electric pushrod 2 are connected with the base of the third electric pushrod 3, three hydraulic-driven bars
Universal joint 13 described in 12 lower end is connected with the first connecting rod 6, the third connecting rod 8 and the fourth link 9 respectively.It is logical
The driving of hydraulic-driven bar 12 described in crossing three groups can be realized the height and position variation of the upper mounting plate, to increase manipulator
Scope of activities.
With reference to the accompanying drawing, to the present invention is based on the specific operation process of the manipulator of restructural parallel institution to carry out in detail
Description.
(1) object state is clamped
As shown in Fig. 2, when manipulator is in clamping object state, by the rotation of motor control S1 and S2, and then band
Dynamic two rotations of lower platform revolute pairs 15 connect with S1 and S2, make the first connecting rod 6 and the 5th connecting rod 10 it
Between generate and generate relative motion between relative motion, the third connecting rod 8 and the fourth link 9, the second connecting rod 7 with
It is dynamic, to change position and the clamping posture of manipulator, and pass through first electric pushrod 1,2 and of the second electric pushrod
The mutually matched stretching motion of the third electric pushrod 3 can make the upper mounting plate realize large range of malformation, into
And increase the opereating specification of manipulator, so that the clamping portion is directed at item to get body by above-mentioned adjustment and carries out clamping operation.
(2) state is climbed
Manipulator provided by the invention based on restructural parallel institution can carry out climbing operation in inner wall of the pipe, need
Illustrate, carries out climbing operation and need to use two manipulator cooperation completions provided by the invention.Carry out climbing operation it
Before, two manipulators of the invention will lock the motor of lower platform driving input S1, S2, and make the electromagnetism Tie Tong in clamping portion
Electricity makes first briquetting 4 and second briquetting 5 be pulled together, as shown in figure 3, at this time first electric pushrod 1,
Second electric pushrod 2 and the third electric pushrod 3 constitute triangle scaling device.
As shown in figure 4, two manipulators are horizontal, the rack of two manipulators (is first company in the present invention
Bar 6) it is fixedly connected with carrier.The manipulator for being introduced into pipeline is known as first manipulator, by the rear manipulator into pipeline
Referred to as in rear manipulator.
It is described in detail for being climbed in pipeline using mechanical hand-motion carrier of the invention below:
Firstly, the upper mounting plate of two manipulators is contracted to the size less than internal diameter of the pipeline, by two manipulators and carrier
It is put into pipeline opening, control increases in the upper mounting plate of rear manipulator and blocks inner wall of the pipe, drives three groups of liquid of first manipulator
The upper mounting plate for pressing the elongation of drive rod 12 to drive first manipulator moves forward, and until it cannot extend again, controls first manipulator
Upper mounting plate increase to and block inner wall of the pipe, while the upper mounting plate controlled in rear manipulator reduces, and drives first manipulator at this time
Three groups of hydraulic-driven bars 12 shorten, thus drive carrier and rear manipulator move forward.So analogize, in two manipulators
Cooperation under, carrier can be driven to be climbed in pipeline.
In other embodiments, two driving inputs can arbitrarily select each lower platform revolute pair to be attached respectively, to
Change the posture of manipulator, but should be noted cannot two same lower platform revolute pairs of driving input connection.
In other embodiments, the lower end of three hydraulic-driven bars can also arbitrarily select three companies in spherical five-bar mechanisms
Bar is attached, as long as the function of not influencing manipulator overall mechanism is realized.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or
It changes still within the protection scope of the invention.
Claims (10)
1. a kind of manipulator based on restructural parallel institution, including upper mounting plate and lower platform, the upper mounting plate by branch with
The lower platform connection, which is characterized in that the upper mounting plate includes the first electric pushrod (1), the second electric pushrod (2) and third
Electric pushrod (3), the both ends of first electric pushrod (1) respectively with one end of second electric pushrod (2) and described
One end of three electric pushrods (3) is rotatably connected, the other end and the third electric pushrod of second electric pushrod (2)
(3) the other end constitutes clamping portion.
2. the manipulator according to claim 1 based on restructural parallel institution, which is characterized in that the clamping portion includes
It is arranged in the first briquetting (4) of the second electric pushrod (2) other end and setting in third electric pushrod (3) other end
The second briquetting (5).
3. the manipulator according to claim 2 based on restructural parallel institution, which is characterized in that first briquetting
(4) and the opposite face of second briquetting (5) is provided with electromagnet.
4. the manipulator according to claim 1 based on restructural parallel institution, which is characterized in that the lower platform is ball
Face five-rod, including the first connecting rod (6), second connecting rod (7), third connecting rod (8), fourth link being successively rotatably connected
(9) and the 5th connecting rod (10).
5. the manipulator according to claim 4 based on restructural parallel institution, which is characterized in that the first connecting rod
(6), between the second connecting rod (7), the third connecting rod (8), the fourth link (9) and the 5th connecting rod (10) according to
Secondary to be connected by lower platform revolute pair (15), the axis of each lower platform revolute pair (15) intersects at the centre of sphere, wherein there are two
The lower platform revolute pair (15) also connects with two driving inputs respectively.
6. the manipulator according to claim 5 based on restructural parallel institution, which is characterized in that the first connecting rod
(6) the lower platform revolute pair (15) between the 5th connecting rod (10) connect the driving input, the third connecting rod
(8) the lower platform revolute pair (15) between the fourth link (9) connect another driving input.
7. according to any manipulator based on restructural parallel institution of claim 4-6, which is characterized in that the branch
It is three groups, branch described in every group includes hydraulic-driven bar (12), the spherical pair for being set to hydraulic-driven bar (12) upper end
(11) and it is set to the universal joint (13) of hydraulic-driven bar (12) lower end.
8. the manipulator according to claim 7 based on restructural parallel institution, which is characterized in that three hydraulic drives
The upper end of lever (12) by the spherical pair (11) respectively with first electric pushrod (1), second electric pushrod
(2) it is connected with the base of the third electric pushrod (3), universal joint described in the lower end of three hydraulic-driven bars (12)
(13) it is connected respectively with the first connecting rod (6), the third connecting rod (8) and the fourth link (9).
9. according to any manipulator based on restructural parallel institution of claim 4-8, which is characterized in that described first
Connecting rod (6) is rack.
10. -9 any manipulator based on restructural parallel institution according to claim 1, which is characterized in that described the
The both ends of one electric pushrod (1) one end with one end of second electric pushrod (2) and the third electric pushrod (3) respectively
It is connected by upper mounting plate revolute pair (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811324894.4A CN109176492B (en) | 2018-11-08 | 2018-11-08 | Manipulator based on reconfigurable parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811324894.4A CN109176492B (en) | 2018-11-08 | 2018-11-08 | Manipulator based on reconfigurable parallel mechanism |
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| Publication Number | Publication Date |
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| CN109176492A true CN109176492A (en) | 2019-01-11 |
| CN109176492B CN109176492B (en) | 2020-07-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811324894.4A Expired - Fee Related CN109176492B (en) | 2018-11-08 | 2018-11-08 | Manipulator based on reconfigurable parallel mechanism |
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Cited By (1)
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| CN110394799A (en) * | 2019-07-10 | 2019-11-01 | 柳州铁道职业技术学院 | A kind of restructural more Gou Taikezhan digital control mechanical arms mechanism |
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| CN110394799B (en) * | 2019-07-10 | 2024-03-08 | 柳州铁道职业技术学院 | Reconfigurable multi-configuration extendable numerical control manipulator mechanism |
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| Publication number | Publication date |
|---|---|
| CN109176492B (en) | 2020-07-31 |
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