CN111037541A - High-speed serial-parallel hybrid manipulator - Google Patents
High-speed serial-parallel hybrid manipulator Download PDFInfo
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- CN111037541A CN111037541A CN201911423364.XA CN201911423364A CN111037541A CN 111037541 A CN111037541 A CN 111037541A CN 201911423364 A CN201911423364 A CN 201911423364A CN 111037541 A CN111037541 A CN 111037541A
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- 230000008859 change Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
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- 238000010586 diagram Methods 0.000 description 2
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Classifications
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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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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- Engineering & Computer Science (AREA)
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Abstract
The embodiment of the invention discloses a high-speed serial-parallel mechanical arm, which relates to the technical field of carrying equipment, and adopts the technical scheme that the mechanical arm comprises a supporting platform, wherein a movable platform is arranged above the supporting platform, and a driving device for driving the movable platform to horizontally move on the supporting platform is arranged on the supporting platform; the driving device is arranged on the supporting platform and positioned on two sides of the movable platform respectively; the driving device comprises a driving motor, a driving rod connected to an output shaft of the driving motor and driven rods with two ends respectively rotatably connected between the driving rod and the movable platform; the total distance between the two driving motors is less than the total length of the two groups of driven rods and the driving rods; and a lifting assembly capable of grabbing parts on the upper side of the supporting platform is arranged on the movable platform. The mechanical arm moving mechanism is used for solving the problem that when an article needs to be moved on a two-dimensional plane, the operation speed and efficiency of the mechanical arm are influenced by frequent space operation direction change and pose change of the existing mechanical arm.
Description
Technical Field
The embodiment of the invention relates to the technical field of carrying equipment, in particular to a high-speed serial-parallel mechanical arm.
Background
A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments. A manipulator in the modern sense is a device that can be carried to perform two-dimensional or three-dimensional movements instead of a human.
In some working scenes, articles need to be moved rapidly on a two-dimensional plane, but the existing manipulator generally moves or rotates in three dimensions in space as a whole, and the speed and efficiency of the manipulator operation are influenced by frequent changes of the space operation direction and pose change.
Disclosure of Invention
Therefore, the embodiment of the invention provides a high-speed serial-parallel serial manipulator, which aims to solve the problem that the operation speed and efficiency of the manipulator are influenced by frequent space operation direction change and pose change of the existing manipulator when an article needs to be rapidly moved on a two-dimensional plane.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
according to the embodiment of the invention, the high-speed serial-parallel mechanical arm comprises support columns arranged at intervals and support platforms arranged among the support columns, wherein a movable platform is arranged above the support platforms, and a driving device for driving the movable platform to horizontally move on the support platforms is arranged on the support platforms; the driving device is arranged on the supporting platform and positioned on two sides of the movable platform respectively; the driving device comprises a driving motor fixed on the supporting platform, a driving rod connected to an output shaft of the driving motor, and driven rods with two ends respectively connected between the driving rod and the movable platform in a rotating manner; the driving rod and the driven rod are parallel to the plane of the supporting platform; the driving motor can drive the driving rod to rotate along a plane parallel to the supporting platform; the total distance between the two driving motors is less than the total length of the two groups of driven rods and the driving rods; and the movable platform is provided with a lifting assembly, and the lifting assembly can grab the parts placed on the upper side of the supporting platform.
Furthermore, one side of the movable platform, which is far away from the supporting platform, is vertically provided with a middle connecting rod, and one end of the middle connecting rod, which is far away from the movable platform, is provided with a middle sliding table; and auxiliary supporting assemblies for supporting the middle sliding table to enable the middle sliding table to slide along the plane of the parallel supporting platform are arranged among the supporting columns.
Furthermore, a plurality of support columns are arranged in parallel and are arranged in a rectangular shape; the auxiliary support assembly comprises a first guide column and a first sliding rod; the first guide posts are arranged in parallel, first guide blocks are respectively arranged at two ends of the first sliding rod, the first guide blocks are sleeved on the first guide posts, and the first guide blocks can slide along the length direction of the first guide posts; a first sliding hole is formed in the middle sliding table; the first sliding rod passes through the first sliding hole; the first guide column, the first sliding rod and the first sliding hole are located in the same plane.
Furthermore, a second guide column is arranged on the support column, and two second guide columns are arranged in parallel at intervals; the second guide post and the first guide post are enclosed to form a rectangle; a second sliding rod is arranged between the two second guide columns, second guide blocks are respectively fixed at two ends of the second sliding rod, and the second guide blocks are sleeved on the second guide columns and can move along the length direction of the second guide columns; a second sliding hole is formed in the middle sliding table and is perpendicular to the first sliding hole, and the second sliding rod penetrates through the second sliding hole; the second sliding hole is positioned at one side close to the movable platform; the second guide column, the second sliding rod and the second sliding hole are located in the same plane.
Further, the lifting subassembly is including setting up move the last lifting cylinder of platform and with the sucking disc that lifting cylinder piston rod is connected, the sucking disc is located move one side that the platform is close to supporting platform, work as when lifting cylinder piston rod is extended, the sucking disc can suck up the spare part of placing on supporting platform downwards.
Furthermore, a fixed table is arranged on one side, close to the middle connecting rod, of the movable platform, one end, close to the movable platform, of the middle connecting rod is fixed to the fixed table, and the lifting cylinder is located on one side, close to the movable platform, of the fixed table.
Furthermore, the sucker is in a conical shape, the diameter of the sucker is smaller at one side close to the movable platform, and the diameter of the sucker is larger at one side far away from the movable platform.
The embodiment of the invention has the following advantages:
in the use process of the scheme of the invention, the suction disc in the lifting assembly grabs the part, and the part is transported by driving the lifting assembly to move on the supporting platform in two dimensions through the driving device and the movable platform which are arranged on the supporting platform. Through middle part slip table, the supplementary supporting component that sets up, will move platform, middle part slip table restriction in the two-dimensional plane, make it continuously move in the two-dimensional plane, avoid when the sucking disc snatchs spare part or remove the in-process, move the platform and produce unnecessary position appearance transform for it can carry out rapid and stable two-dimensional movement in the plane to move the platform. The stress structure of the mechanical arm is optimized on the whole, so that the mechanical arm is smoother in the moving and carrying process.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so that those skilled in the art can understand and read the present invention, and do not limit the conditions for implementing the present invention, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the functions and purposes of the present invention, should still fall within the scope of the present invention.
Fig. 1 is a schematic view of an overall structure of a high-speed serial-parallel hybrid manipulator according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a protrusion driving device in a high-speed serial-parallel serial manipulator according to an embodiment of the present invention;
fig. 3 is a schematic view of a connection relationship between a protruding platform and a middle sliding table in a high-speed serial-parallel hybrid manipulator according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a protrusion lifting assembly in a high-speed serial-parallel hybrid robot according to an embodiment of the present invention.
In the figure: 1. a support pillar; 2. a support platform; 3. a movable platform; 31. a fixed table; 4. a drive device; 41. a drive motor; 42. a drive rod; 43. a driven lever; 5. a middle connecting rod; 6. a middle sliding table; 61. a first slide hole; 62. a second slide hole; 7. an auxiliary support assembly; 71. a first guide post; 72. a first slide bar; 721. a first guide block; 73. a second guide post; 74. a second slide bar; 741. a second guide block; 8. a lifting assembly; 81. a lifting cylinder; 82. and (4) sucking discs.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the present specification, the terms "upper", "lower", "left", "right", "middle", and the like are used for clarity of description, and are not intended to limit the scope of the present invention, and changes or modifications in the relative relationship may be made without substantial changes in the technical content.
The utility model provides a high-speed cluster and parallel-serial manipulator, as shown in fig. 1 to 4, including the support column 1 that the interval set up, set up supporting platform 2 between a plurality of support columns 1, be provided with movable platform 3 in parallel above supporting platform 2 movable platform 3 is last to be provided with lifting subassembly 8, lifting subassembly 8 can snatch the spare part of placing in supporting platform 2 upside.
The supporting platform 2 is provided with a driving device 4 for driving the movable platform 3 to horizontally move on the supporting platform 2. When in use, the driving device 4 drives the movable platform 3 to move along a two-dimensional plane where the plane of the parallel supporting platform is located. Therefore, the lifting assembly 8 is driven to move along a two-dimensional plane, so that the parts are driven to move at high speed.
Four support columns 1 are arranged at intervals, and the four support columns 1 are rectangular. The support platform 2 is fixed between the four support columns 1.
The driving device 4 is arranged on the supporting platform 2 and positioned on two sides of the movable platform 3 respectively; the driving device 4 comprises a driving motor 41 fixed on the supporting platform 2, a driving rod 42 connected on the output shaft of the driving motor 41, and a driven rod 43 with two ends respectively connected between the driving rod 42 and the movable platform 3 in a rotating way; the length directions of the driving rod 42 and the driven rod 43 are respectively parallel to the plane of the supporting platform 2; the driving motor 41 can drive the driving rod 42 to rotate along the plane parallel to the supporting platform 2; the total distance between the two drive motors 41 is less than the total length of the two sets of follower levers 43 and drive levers 42. Therefore, the movable platform 3 can be driven to move in a two-dimensional plane at a high speed in the using process.
Wherein, driving motor 41 is fixed in the support platform 2 downside, and driving motor 41's output shaft is perpendicular support platform 2 plane. A driven rod 43 is rotatably connected to one end of the driving rod 42, which is far away from the driving motor 41, and one end of the driven rod 43, which is far away from the driving rod 42, is rotatably connected to the movable platform 3.
It should be noted that the sum of the distances between the two driving motors 41 is smaller than the sum of the total lengths of the two sets of the driven rods 43 and the driving rods 42.
When the device is used, the two driving motors 41 are matched with each other to rotate, so that the driving rod 42 is driven to rotate, and in the rotating process, the two driven rods 43 are controlled to swing, so that the moving direction of the movable platform 3 between the two driven rods 43 is controlled.
One side of the movable platform 3, which is far away from the supporting platform 2, is vertically provided with a middle connecting rod 5, and one end of the middle connecting rod 5, which is far away from the movable platform 3, is provided with a middle sliding table 6. An auxiliary support assembly 7 for supporting the middle sliding table 6 to keep sliding along the plane of the parallel support platform 2 is arranged among the support columns 1.
The auxiliary support assembly 7 includes a first guide post 71, a first slide bar 72, a second guide post 73, and a second slide bar 74.
Two first guide posts 71 are arranged in parallel and are respectively fixed on the support post 1, two ends of the first sliding rod 72 are respectively provided with a first guide block 721, the two first guide blocks 721 are respectively sleeved on one first guide post 71, and the first guide blocks 721 can slide along the length direction of the first guide posts 71; a first sliding hole 61 is formed in the middle sliding table 6; the first slide rod 72 passes through the first slide hole 61. The first guide post 71, the first slide rod 72, and the first slide hole 61 are located in the same plane.
When the movable platform 3 moves horizontally, the middle sliding table 6 on the upper side is driven to move through the arranged middle connecting rod 5. Through the arranged first guide posts 71 and the first sliding rod 72 arranged between the two first guide posts 71, the middle sliding table 6 is stable in the moving process.
The support column 1 is provided with two second guide columns 73, and the two second guide columns 73 are arranged in parallel at intervals; the second guide post 73 and the first guide post 71 enclose a rectangle.
A second sliding rod 74 is arranged between the two second guide posts 73, second guide blocks 741 are respectively fixed at two ends of the second sliding rod 74, the two second guide blocks 741 are respectively sleeved on the two second guide posts 73, and the second guide blocks 741 can move along the length direction of the second guide posts 73; a second sliding hole 62 is formed in the middle sliding table 6, the second sliding hole 62 is perpendicular to the first sliding hole 61, and the second sliding rod 74 penetrates through the second sliding hole 62; the second sliding hole 62 is positioned at one side close to the movable platform 3; the second guide post 73, the second slide rod 74, and the second slide hole 62 are located in the same plane.
When the middle sliding table is used, the middle sliding table 6 moves synchronously with the movable platform 3 through transmission of the middle connecting rod 5, and in the moving process, the middle sliding table 6 can slide along the length directions of the first sliding rod 72 and the second sliding rod 74 under the action of the arranged first sliding body 61 and the second sliding hole 62. Meanwhile, the first slide rod 72 and the second slide rod 74 can slide along the first guide post 71 and the second guide post 73, respectively, thereby achieving free sliding of the middle slide table 6 in a two-dimensional plane.
Through the first guide post 71, first slide bar 72, second guide post 73, second slide bar 74 that set up, it is spacing to middle part slip table 6, make middle part slip table 6 can not take place to rotate at the removal in-process, thereby, realize spacing to moving platform 3 through connecting middle part connecting rod 5 between middle part slip table 6 and moving platform 3, the three-dimensional rotation of moving platform 3 has been restricted, the unnecessary position appearance transform of moving platform 3 has been reduced, make moving platform 3 carry out rapid and stable two-dimensional movement in the plane. Therefore, the lifting assembly 8 on the movable platform 3 can stably move in a two-dimensional plane after grabbing the parts.
The lifting assembly 8 comprises a lifting cylinder 81 arranged on the movable platform 3 and a sucker 82 connected with a piston rod of the lifting cylinder 81, the sucker 82 is positioned on one side of the movable platform 3 close to the supporting platform 2, and parts on the supporting platform 2 are grabbed in the telescopic process of the piston rod of the lifting cylinder 81.
A fixed platform 31 is arranged on one side of the movable platform 3 close to the middle connecting rod 5, one end of the middle connecting rod 5 close to the movable platform 3 is fixed on the fixed platform 31, and the lifting cylinder 81 is arranged on one side of the fixed platform 31 close to the movable platform 3. The suction cup 82 is in a shape of a cone, and has a smaller diameter on the side close to the movable platform 3 and a larger diameter on the side far from the movable platform 3.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (7)
1. The utility model provides a high-speed cluster and series-parallel connection manipulator which characterized in that: the device comprises supporting columns (1) arranged at intervals and supporting platforms (2) arranged among the supporting columns (1), wherein a movable platform (3) is arranged above the supporting platforms (2), and a driving device (4) for driving the movable platform (3) to horizontally move on the supporting platforms (2) is arranged on the supporting platforms (2);
the driving devices (4) are arranged on the supporting platform (2) and are respectively arranged at two sides of the movable platform (3) in a group;
the driving device (4) comprises a driving motor (41) fixed on the supporting platform (2), a driving rod (42) connected to an output shaft of the driving motor (41), and a driven rod (43) with two ends respectively connected between the driving rod (42) and the movable platform (3) in a rotating manner;
the length directions of the driving rod (42) and the driven rod (43) are respectively parallel to the plane of the supporting platform (2); the driving motor (41) can drive the driving rod (42) to rotate along a plane parallel to the supporting platform (2); the total distance between the two driving motors (41) is less than the total length of the two groups of driven rods (43) and the driving rods (42);
the movable platform (3) is provided with a lifting assembly (8), and the lifting assembly (8) can grab parts placed on the upper side of the supporting platform (2).
2. The high-speed serial-parallel manipulator according to claim 1, characterized in that: a middle connecting rod (5) is vertically arranged on one side of the movable platform (3) far away from the supporting platform (2), and a middle sliding table (6) is arranged at one end of the middle connecting rod (5) far away from the movable platform (3); and auxiliary supporting assemblies (7) which support the middle sliding table (6) to enable the middle sliding table (6) to slide along the plane of the parallel supporting platform (2) are arranged among the supporting columns (1).
3. The high-speed serial-parallel manipulator according to claim 2, characterized in that: the support columns (1) are arranged in parallel and are arranged in a rectangular shape;
the auxiliary support assembly (7) comprises a first guide column (71) and a first sliding rod (72);
the first guide posts (71) are arranged in parallel, two ends of the first sliding rod (72) are respectively provided with a first guide block (721), the first guide blocks (721) are sleeved on the first guide posts (71), and the first guide blocks (721) can slide along the length direction of the first guide posts (71);
a first sliding hole (61) is formed in the middle sliding table (6); the first sliding rod (72) passes through the first sliding hole (61);
the first guide column (71), the first sliding rod (72) and the first sliding hole (61) are positioned in the same plane.
4. The high-speed serial-parallel manipulator according to claim 3, wherein: the supporting column (1) is provided with two second guide columns (73), and the two second guide columns (73) are arranged in parallel at intervals; the second guide post (73) and the first guide post (71) enclose to form a rectangle;
a second sliding rod (74) is arranged between the two second guide columns (73), second guide blocks (741) are respectively fixed at two ends of the second sliding rod (74), and the second guide blocks (741) are sleeved on the second guide columns (73) and can move along the length direction of the second guide columns (73);
a second sliding hole (62) is formed in the middle sliding table (6), the second sliding hole (62) is perpendicular to the first sliding hole (61), and the second sliding rod (74) penetrates through the second sliding hole (62);
the second sliding hole (62) is positioned at one side close to the movable platform (3); the second guide column (73), the second sliding rod (74) and the second sliding hole (62) are positioned in the same plane.
5. The high-speed serial-parallel manipulator according to claim 1, characterized in that: lifting subassembly (8) are including setting up move lifting cylinder (81) on platform (3) and with sucking disc (82) that lifting cylinder (81) piston rod is connected, sucking disc (82) are located move one side that platform (3) are close to supporting platform (2), work as when lifting cylinder (81) piston rod is extended, sucking disc (82) can suck up the spare part of placing on supporting platform (2) downwards.
6. The high-speed serial-parallel manipulator according to claim 5, wherein: move one side that platform (3) are close to middle connecting rod (5) and be provided with fixed station (31), the one end that middle connecting rod (5) are close to moving platform (3) is fixed on fixed station (31), lifting cylinder (81) are located one side that fixed station (31) are close to moving platform (3).
7. The high-speed serial-parallel manipulator according to claim 6, wherein: the sucker (82) is conical, the diameter of one side close to the movable platform (3) is smaller, and the diameter of one side far away from the movable platform (3) is larger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911423364.XA CN111037541A (en) | 2019-12-31 | 2019-12-31 | High-speed serial-parallel hybrid manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911423364.XA CN111037541A (en) | 2019-12-31 | 2019-12-31 | High-speed serial-parallel hybrid manipulator |
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| CN111037541A true CN111037541A (en) | 2020-04-21 |
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| CN201911423364.XA Pending CN111037541A (en) | 2019-12-31 | 2019-12-31 | High-speed serial-parallel hybrid manipulator |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104708617A (en) * | 2015-02-28 | 2015-06-17 | 天津大学 | Three-freedom-degree locating mechanism and multiple-freedom-degree hybrid manipulator robot with same |
| CN104802154A (en) * | 2015-03-23 | 2015-07-29 | 杭州娃哈哈集团有限公司 | Four-degree-of-freedom high-speed parallel-connection manipulator |
| WO2018018755A1 (en) * | 2016-07-29 | 2018-02-01 | 意力(广州)电子科技有限公司 | Automatic sealing device having fully automatic linear robot arm |
| CN211517487U (en) * | 2019-12-31 | 2020-09-18 | 青岛钢铁侠科技有限公司 | High-speed serial-parallel hybrid manipulator |
-
2019
- 2019-12-31 CN CN201911423364.XA patent/CN111037541A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104708617A (en) * | 2015-02-28 | 2015-06-17 | 天津大学 | Three-freedom-degree locating mechanism and multiple-freedom-degree hybrid manipulator robot with same |
| CN104802154A (en) * | 2015-03-23 | 2015-07-29 | 杭州娃哈哈集团有限公司 | Four-degree-of-freedom high-speed parallel-connection manipulator |
| WO2018018755A1 (en) * | 2016-07-29 | 2018-02-01 | 意力(广州)电子科技有限公司 | Automatic sealing device having fully automatic linear robot arm |
| CN211517487U (en) * | 2019-12-31 | 2020-09-18 | 青岛钢铁侠科技有限公司 | High-speed serial-parallel hybrid manipulator |
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