CN113500583A - Three-degree-of-freedom parallel robot and calibration method thereof - Google Patents
Three-degree-of-freedom parallel robot and calibration method thereof Download PDFInfo
- Publication number
- CN113500583A CN113500583A CN202110760595.0A CN202110760595A CN113500583A CN 113500583 A CN113500583 A CN 113500583A CN 202110760595 A CN202110760595 A CN 202110760595A CN 113500583 A CN113500583 A CN 113500583A
- Authority
- CN
- China
- Prior art keywords
- motor
- force arm
- moving
- plate
- rod
- 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.)
- Granted
Links
Images
Classifications
-
- 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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a three-degree-of-freedom parallel robot and a calibration method thereof, under the action of an expansion mechanism, the change of the distance between two single rods of a second force arm is realized, so that the bottom of the second force arm is suitable for moving plates with different sizes to be used for installing mechanical arms with different sizes, under the matching action of a first connecting mechanism and a second connecting mechanism, the matching change is realized when the distance between the two single rods of the second force arm is changed, so that the stability of the connection between the two single rods of the second force arm is maintained, under the action of an installation mechanism, the moving plates with different sizes are installed by matching with the expansion mechanism, so that mechanical arms with different specifications are matched, under the action of a stable maintaining mechanism, the tight connection relationship between a telescopic rod and three third force arms is maintained, the moving stability of the moving plates is maintained, and under the action of the stable maintaining mechanism, the connectivity between the telescopic rod and the second force arm is maintained, the stability of the moving plate is also maintained.
Description
Technical Field
The invention relates to the technical field of parallel robots, in particular to a three-degree-of-freedom parallel robot and a calibration method thereof.
Background
The parallel robot, i.e. the movable platform and the static platform are connected by at least two independent kinematic chains, has two or more degrees of freedom, and is a closed loop mechanism driven in a parallel way, compared with the traditional industrial series robot, the parallel robot has many advantages, such as: the parallel robot is classified according to motion forms and can be divided into a plane mechanism and a space mechanism; the subdivision can be divided into a plane moving mechanism, a plane moving rotating mechanism, a space pure moving mechanism, a space pure rotating mechanism, a space mixed motion mechanism and the like. The method is classified according to the degrees of freedom and can be divided into two degrees of freedom, three degrees of freedom, four degrees of freedom, five degrees of freedom, six degrees of freedom and the like, and the method is common in the market as follows: two-degree-of-freedom and three-degree-of-freedom parallel robots. The two-degree-of-freedom parallel robot is simple in structure, the movable platform is only subjected to acting forces generated by the two driving arms, objects are stably grabbed and placed, shaking is not prone to occurring, and the success rate of grabbing and placing the objects is high. The three-degree-of-freedom parallel robot has more types and forms; mainly comprises two categories of planar three-degree-of-freedom parallel robots and spherical three-degree-of-freedom parallel robots; the planar three-degree-of-freedom parallel robot has two movements and one rotation; the axes of all kinematic pairs of the spherical three-degree-of-freedom parallel robot meet at a point in space, the point is called as the center of the mechanism, all points on the mechanism move around the point in a rotating manner, and the existing four-axis parallel robot keeps the connectivity between a movable platform and a static platform through a telescopic rod, thereby operating more efficiently.
The existing parallel robot is installed to carry out the operation of triaxial or four-axis on moving the platform through getting the arm, and according to pressing from both sides the arm that gets article size and adopt different specifications and size of a dimension, for the installation stability who keeps the arm, need be equipped with different platform that moves usually and cooperate the use, but the existing parallel robot is often inconvenient when changing and move the platform size.
Therefore, there is a need to provide a new parallel robot and a calibration method thereof to solve the above technical problems.
Disclosure of Invention
In order to solve the technical problems, the invention provides a parallel robot which changes the width of a mechanical arm so as to be suitable for moving platforms with different sizes and specifications and a calibration method thereof.
The three-degree-of-freedom parallel robot provided by the invention comprises a stable holding mechanism, an expanding mechanism, a first connecting mechanism, a second connecting mechanism and an installing mechanism, and the parallel robot further comprises: the mounting platform is fixedly provided with a third motor at one side of the back of the first motor and the back of the second motor, first force arms are fixed at the output ends of the first motor, the second motor and the third motor, a second force arm is rotatably arranged at one side of the first force arm far away from the output end of the motor through a rotating shaft, the second force arm consists of two single rods, and the bottoms of the three second force arms are connected with the movable plate together;
a central seat is fixed on the surface of the mounting table, which is positioned in the gap between the first motor and the second motor, an installation shaft sleeve is fixed on the outer surface of the central seat, a telescopic rod is fixedly installed in the installation shaft sleeve, a universal shaft seat is fixedly installed at the top of the movable plate, which corresponds to the position of the telescopic rod, and the extension end of the telescopic rod is rotatably connected with the universal shaft seat;
the expansion mechanism for adjusting the distance between the two single rods of the second force arm is arranged at the position, close to the connecting position with the first force arm rotating shaft, of the second force arm, the first connecting mechanism for keeping the connection between the two single rods of the second force arm when the distance between the two single rods of the second force arm is increased is arranged between the two single rods of the second force arm, the second connecting mechanism for keeping the stability when the distance between the two single rods of the second force arm is increased is arranged at the bottom of the first connecting mechanism between the two single rods of the second force arm, the mounting mechanism for connecting the moving plates with different sizes is arranged at the end, far away from the connecting position with the first force arm rotating shaft, of the second force arm, and the stable maintaining mechanism for keeping the overall stability of the moving plates when the distance between the two single rods of the second force arm is increased is arranged on the surface of the telescopic rod.
Preferably, the expansion mechanism comprises a micro motor, a translational sliding barrel, a bidirectional threaded rod, meshing sleeves and a connecting piece, the translational sliding barrel is arranged at the bottom of the second force arm, the top of the translational sliding barrel is connected with a rotating shaft of the first force arm, a notch is formed in the bottom of the translational sliding barrel, the bidirectional threaded rod is rotatably arranged inside the translational sliding barrel, the micro motor is fixedly arranged on the outer wall of one end of the translational sliding barrel, the output end of the micro motor is fixedly connected with the bidirectional threaded rod, the bidirectional threaded rod is symmetrically meshed with the two meshing sleeves on the surface, the connecting piece is fixed at the bottom of the meshing sleeves, and the single rod of the second force arm is fixedly inserted inside the connecting piece.
Preferably, memory steel sheets are fixed on the inner walls of the two connecting pieces.
Preferably, first coupling mechanism includes sliding sleeve, first even board, connecting axle and the even board of second, two sliding sleeves have all been slided to the surface of two single poles of second force arm, the inboard rotation of second force arm single pole upper end sliding sleeve is connected with first link, and the inboard rotation of second force arm single pole lower extreme sliding sleeve is connected with the even board of second, it is connected with the connecting axle to rotate between even board of first even board and the second, the first even board and the second of two single poles of second force arm are even connected with the connecting axle rotation.
Preferably, the second connecting mechanism comprises a fixing plate, a telescopic column and a first spring, the fixing plate is fixed on the surface of the single rod of the second force arm positioned at the bottom of the first connecting mechanism, the telescopic columns are fixed between the two fixing plates at equal intervals, and the first spring is sleeved on the outer ring of each telescopic column.
Preferably, the installation mechanism comprises a sliding rod, a limiting plate, a moving sleeve, a translation sleeve and a second spring, the bottoms of the two single rods of the second force arm are respectively fixed with the moving sleeve, the two inner parts of the moving sleeves are slidably inserted with the sliding rod, the two ends of the sliding rod are respectively fixed with the limiting plate, the sliding rod is positioned between the two moving sleeves on the surface and is slidably sleeved with the two translation sleeves, the translation sleeves are fixedly connected with the moving sleeves, and the second spring is fixed between the translation sleeves.
Preferably, the translation cover is fixed with the mounting panel near movable plate one side, and the bolt hole has been seted up to mounting panel four corners department, the mounting panel passes through the cooperation and the movable plate fixed connection of bolt hole and bolt.
Preferably, it includes retainer plate, round platform seat, removal ball, connecting rod and adapter sleeve to stabilize holding mechanism, the fixed coupling in telescopic link surface has connect the retainer plate, the position fixing that the retainer plate outer wall corresponds the single pole of the three second arm of force has the round platform seat, and the inside shifting chute of having seted up of round platform seat, the inside sliding connection of round platform seat shifting chute has the removal ball, the removal ball is worn out the round platform seat and is fixed with the connecting rod on the surface, the connecting rod other end rotates through the pivot and is connected with the adapter sleeve, and the fixed coupling of adapter sleeve is on the second arm single pole surface.
Preferably, the installation position of the third motor is higher than that of the first motor and the second motor, and the length of the second force arm corresponding to the third motor is longer than that of the second force arm of the first motor and the second motor.
The invention also provides a calibration method of the three-degree-of-freedom robot, which is used for the robot, and comprises the following steps:
1) taking A1, A2 and A3 as the axes of three motors, setting O as the midpoint of a static platform as an origin, setting the direction of a Y axis as the direction connecting the midpoint of A1 and A2 with the origin O, setting the direction of an X axis to be vertical to the Y axis and to be intersected with the origin O, setting a Z axis to be vertical to the static platform and to be intersected with the origin O, setting B1, B2 and B3 as the connecting positions of a driving swing arm and a driven swing arm, setting C1, C2 and C3 as the connecting points of a movable platform and an extending arm, and setting up an O '-X' Y 'Z' coordinate system which is similar to the static platform;
2) the model building method is packaged into a program function package, and the corresponding delta robot model can be generated by inputting the four parameters of the radius of the mounting table (1), the radius of the moving plate (9), the length of the first force arm (6) and the length of the second force arm (7).
3) Inputting the current coordinate values into an equation through a constraint equation of an inverse kinematics algorithm of the parallel robot, and obtaining rotation angles corresponding to the three motors through solution calculation;
4) solving the equation set by inputting the known angle and rotation angle of the motor through a core equation of a positive kinematics algorithm of the parallel robot, and finally obtaining parameters of three-dimensional coordinates XYZ; the constraint equation of the kinematic algorithm is as follows:
5) when the telescopic rod (5) is in the shortest length, X, Y is made to be 0, and the minimum value of the rotation angle of the motor can be obtained; when the telescopic rod (5) is in the longest length, X, Y is set to be 0, the rotation angle of the motor is calculated, and if the rotation angle is larger than 90 degrees, the maximum value of the rotation angle of the motor is 90 degrees; otherwise, the calculated angle is the maximum value of the rotation angle of the motor;
compared with the related art, the parallel robot and the calibration method thereof provided by the invention have the following beneficial effects:
the invention provides a parallel robot and a calibration method thereof:
1. under the action of the expansion mechanism, the micro motor drives the two-way threaded rod to enable the two meshing sleeves to be meshed and rotated away from or close to each other along the rotation direction of the two-way threaded rod and simultaneously slide along the inner part of the translation sliding cylinder, and the connecting piece and the two single rods are driven to move away from or close to each other under the action of the meshing sleeves, so that the change of the distance between the two single rods of the second force arm is realized, and the bottom of the second force arm is suitable for moving plates with different sizes to be used for installing mechanical arms with different sizes;
2. under the mating reaction of first coupling mechanism and second coupling mechanism, drive the in-process that two single poles kept away from each other or were close to at expansion mechanism, slide bar on the single pole slides along the single pole surface, first even board and second link the board simultaneously and fold along the connecting axle, two sets of first even boards and second link the board and keep the connectivity when the second force arm single pole removes, flexible post takes place to stretch out and draw back, it is tensile or the compression to drive first spring, make the removal of two single poles more stable, when having realized the interval change between two single poles of second force arm, the cooperation changes, thereby keep the stability of being connected between two single poles of second force arm.
3. Under installation mechanism's effect, at the in-process that expanding mechanism drove two single poles and keep away from each other or be close to, the movable sleeve slides along the slide bar, and receive the limiting displacement of limiting plate, the translation cover is followed together and is removed simultaneously, tensile or compression second spring, mounting panel and bolt hole through the translation cover, be applicable to the movable plate that the mounting dimension is different, the not unidimensional movable plate of cooperation expanding mechanism installation, thereby the arm of the different specifications of cooperation, under the effect of stable holding mechanism, make and keep inseparable connection relation between telescopic link and the three second force arm, the stability that the movable plate removed keeps.
4. Under the action of the stability maintaining mechanism, when the second force arm rotates along with the motor to drive the moving plate to move, the moving ball inside the circular truncated cone seat moves out of the circular truncated cone seat to slide, the connecting rod is driven, the connecting rod and the moving ball are matched to form universal shaft rotating fit, the stability between the telescopic rod and the second force arm is maintained, meanwhile, the moving stability of the moving plate is also maintained, the connectivity between the telescopic rod and the second force arm is maintained, and the moving stability of the moving plate is also maintained.
Drawings
FIG. 1 is a schematic view of the overall front structure provided by the present invention;
FIG. 2 is a schematic view of the overall side structure provided by the present invention;
FIG. 3 is a schematic view of the connection between the first force arm and the second force arm according to the present invention;
FIG. 4 is a schematic view of the expansion mechanism of the present invention;
FIG. 5 is a schematic structural diagram of a first connecting mechanism according to the present invention;
FIG. 6 is a schematic structural view of a second connecting mechanism provided in the present invention;
FIG. 7 is a schematic view of a mounting mechanism configuration provided by the present invention;
FIG. 8 is a schematic structural view of a stability maintenance mechanism provided by the present invention;
FIG. 9 is a schematic view of the present invention showing the connection of the extension end of the retractable plate to the movable plate;
fig. 10 is a schematic diagram of three-degree-of-freedom coordinate modeling provided by the present invention.
Reference numbers in the figures: 1. an installation table; 2. a first motor; 3. a second motor; 4. a third motor; 5. a telescopic rod; 51. installing a shaft sleeve; 52. a center seat; 53. a universal shaft seat; 6. a first force arm; 7. a second moment arm; 8. a stability maintaining mechanism; 81. a stationary ring; 82. a round pedestal; 83. moving the ball; 84. a connecting rod; 85. Connecting sleeves; 9. moving the plate; 10. an expansion mechanism; 101. a micro motor; 102. a translation sliding cylinder; 103. A bidirectional threaded rod; 104. an engagement sleeve; 105. a connecting member; 106. memorizing a steel sheet; 11. a first connecting mechanism; 111. a sliding sleeve; 112. a first connecting plate; 113. a connecting shaft; 114. a second connecting plate; 12. a second connecting mechanism; 121. a fixing plate; 122. a telescopic column; 123. a first spring; 13. an installation mechanism; 131. A slide bar; 132. a limiting plate; 133. moving the sleeve; 134. a translation sleeve; 135. mounting a plate; 136. bolt holes; 137. a second spring.
Detailed Description
The invention is further described with reference to the following figures and embodiments.
Please refer to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8 and fig. 9 in combination, wherein fig. 1 is a schematic diagram of an overall front structure provided by the present invention; FIG. 2 is a schematic view of the overall side structure provided by the present invention; FIG. 3 is a schematic view of the connection between the first force arm and the second force arm according to the present invention; FIG. 4 is a schematic view of the expansion mechanism of the present invention; FIG. 5 is a schematic structural diagram of a first connecting mechanism according to the present invention; FIG. 6 is a schematic structural view of a second connecting mechanism provided in the present invention; FIG. 7 is a schematic view of a mounting mechanism configuration provided by the present invention; FIG. 8 is a schematic structural view of a stability maintenance mechanism provided by the present invention; fig. 9 is a schematic view of the connection of the extension end of the retractable plate and the movable plate according to the present invention.
In a specific implementation process, referring to fig. 1 and 2, a three-degree-of-freedom parallel robot includes a stable holding mechanism 8, an expanding mechanism 10, a first connecting mechanism 11, a second connecting mechanism 12, and a mounting mechanism 13, and referring to fig. 1 and 2, the parallel robot further includes: the robot comprises a mounting table 1, a first motor 2, a second motor 3, a third motor 4 and a movable plate 9, wherein the first motor 2 and the second motor 3 are symmetrically mounted on the surface of the mounting table 1, a certain gap is reserved between the first motor 2 and the second motor 3, the third motor 4 is fixedly mounted on one side of the back face of the mounting table 1, which is positioned on the first motor 2 and the second motor 3, the output ends of the first motor 2, the second motor 3 and the third motor 4 are respectively fixed with a first force arm 6, a second force arm 7 is rotatably mounted on one side, away from the output end of the motor, of the first force arm 6 through a rotating shaft, the second force arm 7 is composed of two single rods, the movable plate 9 is jointly connected to the bottoms of the three second force arms 7, the movable plate 9 is driven by the first motor 2, the second motor 3 and the third motor 4 to move to form a three-axis parallel robot, the mounting table 1 is a static platform, the moving plate 9 is a moving platform, and the moving plate 9 is used for mounting a mechanical arm;
referring to fig. 1 and 9, a central seat 52 is fixed on the surface of the mounting table 1 located in the gap between the first motor 2 and the second motor 3, a mounting shaft sleeve 51 is fixed on the outer surface of the central seat 52, a telescopic rod 5 is fixedly mounted inside the mounting shaft sleeve 51, a universal shaft seat 53 is fixedly mounted at the top of the moving plate 9 corresponding to the position of the telescopic rod 5, the extending end of the telescopic rod 5 is rotatably connected with the universal shaft seat 53, and the moving plate 9 is limited by the telescopic rod 5 between the first motor 2 and the second motor 3 to form a four-axis parallel robot;
referring to fig. 1 and 3, an expanding mechanism 10 for adjusting the distance between two single rods of the second moment arm 7 is disposed near the joint with the rotating shaft of the first moment arm 6, a first connecting mechanism 11 for maintaining the connectivity when the distance between the two single rods of the second moment arm 7 increases is disposed between the two single rods of the second moment arm 7, a second connecting mechanism 12 for maintaining the stability when the distance between the single rods of the second moment arm 7 increases is disposed at the bottom of the first connecting mechanism 11 between the two single rods of the second moment arm 7, an installation mechanism 13 connected to the movable plates 9 of different sizes is disposed at one end of the second moment arm 7 away from the joint with the rotating shaft of the first moment arm 6, a stability maintaining mechanism 8 for maintaining the overall stability of the movable plates 9 when the distance between the two single rods of the second moment arm 7 increases is disposed on the surface of the telescopic rod 5, and the distance between the two single rods of the second moment arm 7 is changed under the action of the expanding mechanism 10, therefore, the bottom of the second force arm 7 is suitable for moving plates 9 with different sizes to be used for installing mechanical arms with different sizes, under the cooperation effect of the first connecting mechanism 11 and the second connecting mechanism 12, when the distance between two single rods of the second force arm 7 is changed, the cooperation is changed, the connection stability between the two single rods of the second force arm 7 is kept, under the effect of the installing mechanism 13, the moving plates 9 with different sizes are installed through the cooperation of the expanding mechanism 10, the mechanical arms with different specifications are matched, under the effect of the stability keeping mechanism 8, the tight connection relationship is kept between the telescopic rod 5 and the three second force arms 7, the moving stability of the moving plate 9 is kept, under the effect of the stability keeping mechanism 8, the connection between the telescopic rod 5 and the second force arms 7 is kept, and the moving stability of the moving plate 9 is also kept.
Referring to fig. 4, the expanding mechanism 10 includes a micro motor 101, a translational sliding cylinder 102, a bidirectional threaded rod 103, engaging sleeves 104 and a connecting member 105, the bottom of the second force arm 7 is provided with the translational sliding cylinder 102, the top of the translational sliding cylinder 102 is connected with the first force arm 6 through a rotating shaft, the bottom of the translational sliding cylinder 102 is provided with a notch, the translational sliding cylinder 102 is internally and rotatably provided with the bidirectional threaded rod 103, the outer wall of one end of the translational sliding cylinder 102 is fixedly provided with the micro motor 101, the output end of the micro motor 101 is fixedly connected with the bidirectional threaded rod 103, the surface of the bidirectional threaded rod 103 is symmetrically engaged and connected with the two engaging sleeves 104, the bottom of the engaging sleeve 104 is fixedly provided with the connecting member 105, the single rod of the second force arm 7 is fixedly inserted into the connecting member 105, the micro motor 101 is turned on, the micro motor 101 drives the bidirectional threaded rod 103, so that the two engaging sleeves 104 are engaged and rotated away from or close to each other along the rotation direction of the bidirectional threaded rod 103, and simultaneously slides along the inside of the translation sliding barrel 102, and the connecting piece 105 and the two single rods are driven to move to be separated or gathered under the action of the engaging sleeve 104, so that the distance between the two single rods of the second force arm 7 is changed.
Referring to fig. 4, memory steel sheets 106 are fixed on the inner walls of the two connecting members 105, the memory steel sheets 106 have certain elastic recovery capability, when the two single rods approach each other, the memory steel sheets 106 are pressed, and when the two single rods move away from each other, the memory steel sheets 106 are unfolded, so that the connectivity between the two connecting members 105 is maintained.
Referring to fig. 5, the first connecting mechanism 11 includes a sliding sleeve 111, a first link plate 112, a connecting shaft 113 and a second link plate 114, two sliding sleeves 111 are respectively sleeved on the surfaces of the two single rods of the second force arm 7 in a sliding manner, a first connecting plate 112 is rotatably connected to the inner side of the sliding sleeve 111 at the upper end of the single rod of the second force arm 7, and the inner side of the single-rod lower end sliding sleeve 111 of the second force arm 7 is rotatably connected with a second connecting plate 114, a connecting shaft 113 is rotatably connected between the first connecting plate 112 and the second connecting plate 114, the first connecting plate 112 and the second connecting plate 114 of the two single rods of the second force arm 7 are rotatably connected with a connecting shaft 113, during the process of moving the two single rods away from or close to each other by the expanding mechanism 10, the sliding rods 131 on the single rods slide along the surfaces of the single rods, while the first link plate 112 and the second link plate 114 are folded along the connecting shaft 113, the two sets of the first link plate 112 and the second link plate 114 maintain the connectivity when the second force arm 7 is single-bar moved.
Referring to fig. 6, the second connecting mechanism 12 includes a fixing plate 121, a telescopic column 122 and a first spring 123, the fixing plate 121 is fixed on the surface of the single rod of the second force arm 7 located at the bottom of the first connecting mechanism 11, the telescopic columns 122 are fixed between two fixing plates 121 at equal intervals, the first spring 123 is sleeved on the outer ring of each telescopic column 122, and when the expanding mechanism 10 drives the two single rods to move away from or close to each other, the telescopic column 122 expands and contracts to drive the first spring 123 to stretch or compress, so that the two single rods move more stably.
Referring to fig. 6 and 7, the mounting mechanism 13 includes a sliding bar 131, a limit plate 132, a moving sleeve 133, a translating sleeve 134 and a second spring 137, the bottom parts of the two single rods of the second force arm 7 are respectively fixed with a moving sleeve 133, a sliding rod 131 is inserted in the two moving sleeves 133 in a sliding way, limiting plates 132 are fixed at two ends of the sliding rod 131, two translation sleeves 134 are slidably sleeved on the surface of the sliding rod 131 between the two moving sleeves 133, the translation sleeves 134 are fixedly connected with the moving sleeves 133, a second spring 137 is fixed between the two translation sleeves 134, during the process of the expansion mechanism 10 driving the two single rods to move away from or close to each other, the moving sleeve 133 slides along the sliding rod 131, and is limited by the limiting plate 132, at the same time, the translating sleeve 134 moves along with it, stretching or compressing the second spring 137, making the movement of the translating sleeve 133 and the translating sleeve 134 more stable.
Referring to fig. 7, a mounting plate 135 is fixed to one side of the translation sleeve 134 close to the moving plate 9, bolt holes 136 are formed in four corners of the mounting plate 135, the mounting plate 135 is fixedly connected with the moving plate 9 through the bolt holes 136 and the bolts, and the mounting plate 135 and the bolt holes 136 of the translation sleeve 134 are suitable for mounting the moving plates 9 with different sizes.
Referring to fig. 8, the stable maintaining mechanism 8 includes a fixed ring 81, a circular platform seat 82, a movable ball 83, a connecting rod 84 and a connecting sleeve 85, the fixed ring 81 is fixedly sleeved on the surface of the telescopic rod 5, the circular platform seat 82 is fixed on the outer wall of the fixed ring 81 corresponding to the position of the single rod of the three second force arms 7, a movable groove is formed in the circular platform seat 82, the movable ball 83 is slidably connected in the movable groove of the circular platform seat 82, the movable ball 83 penetrates through the surface of the circular platform seat 82, the connecting rod 84 is fixed on the surface of the circular platform seat 82, the other end of the connecting rod 84 is rotatably connected with the connecting sleeve 85 through a rotating shaft, the connecting sleeve 85 is fixedly sleeved on the surface of the single rod of the second force arm 7, when the second force arm 7 rotates along with the motor to drive the moving arm 9, the movable ball movable plate 83 in the circular platform seat 82 moves out of the inside the circular platform seat 82 to slide, the connecting rod 84 is driven, the connecting rod 84 and the movable ball 83 are matched to form a universal shaft rotation fit, the stability between the telescopic rod 5 and the second force arm 7 is maintained, and the stability of the moving plate 9 is also maintained.
Referring to fig. 2, the installation position of the third motor 4 is higher than that of the first motor 2 and the second motor 3, the length of the second force arm 7 corresponding to the third motor 4 is longer than that of the second force arm 7 of the first motor 2 and the second motor 3, the installation position of the third motor 4 is higher than that of the first motor 2 and the second motor 3, and the length of the second force arm 7 corresponding to the third motor 4 is longer than that of the second force arm 7 of the first motor 2 and the second motor 3, so that the requirement that the moving plate 9 keeps moving smoothly is met.
Referring to fig. 1, fig. 2 and fig. 10, the calibration method of a three-degree-of-freedom robot provided by the present invention includes the following steps:
1) taking A1, A2 and A3 as the axes of three motors, setting O as the midpoint of a static platform as an origin, setting the direction of a Y axis as the direction connecting the midpoint of A1 and A2 with the origin O, setting the direction of an X axis to be vertical to the Y axis and to be intersected with the origin O, setting a Z axis to be vertical to the static platform and to be intersected with the origin O, setting B1, B2 and B3 as the connecting positions of a driving swing arm and a driven swing arm, setting C1, C2 and C3 as the connecting points of a movable platform and an extending arm, and setting up an O '-X' Y 'Z' coordinate system which is similar to the static platform;
2) packaging the model building method into a program function package, and inputting four parameters of the radius of the mounting table 1, the radius of the moving plate 9, the length of the first force arm 6 and the length of the second force arm 7 to generate a corresponding delta robot model;
3) inputting the current coordinate values into an equation through a constraint equation of an inverse kinematics algorithm of the parallel robot, and obtaining rotation angles corresponding to the three motors through solution calculation;
4) solving the equation set by inputting the known angle and rotation angle of the motor through a core equation of a positive kinematics algorithm of the parallel robot, and finally obtaining parameters of three-dimensional coordinates XYZ;
5) when the telescopic rod 5 is in the shortest length, X, Y is set to be 0, and the minimum value of the rotation angle of the motor can be obtained; when the telescopic rod 5 is in the longest length, X, Y is made to be 0, the rotation angle of the motor is calculated, and if the rotation angle is larger than 90 degrees, the maximum value of the rotation angle of the motor is 90 degrees; otherwise, the calculated angle is the maximum value of the rotation angle of the motor;
the working principle is as follows: the micro motor 101 is started, the micro motor 101 drives the two-way threaded rod 103, the two meshing sleeves 104 are enabled to be meshed and rotated away from or close to each other along the rotating direction of the two-way threaded rod 103, and simultaneously slide along the inner part of the translation sliding cylinder 102, the connecting piece 105 and the two single rods are driven to move away from or close to each other under the action of the meshing sleeves 104, so that the distance between the two single rods of the second force arm 7 is changed, in the process that the expansion mechanism 10 drives the two single rods to move away from or close to each other, the telescopic column 122 is telescopic, the first spring 123 is driven to stretch or compress, the movement of the two single rods is more stable, in the process that the expansion mechanism 10 drives the two single rods to move away from or close to each other, the sliding rod 131 on the single rod slides along the surface of the single rod, meanwhile, the first connecting plate 112 and the second connecting plate 114 are folded along the connecting shaft 113, and the two groups of the first connecting plate 112 and the second connecting plate 114 maintain connectivity when the single rods of the second force arm 7 move, in the process that the expansion mechanism 10 drives the two single rods to move away from or close to each other, the moving sleeve 133 slides along the sliding rod 131 and is limited by the limiting plate 132, meanwhile, the translation sleeve 134 moves along with the sliding sleeve 134, the second spring 137 is stretched or compressed, the moving sleeve 133 and the translation sleeve 134 move more stably, the moving sleeve 133 and the translation sleeve 134 are suitable for mounting moving plates 9 with different sizes through the mounting plate 135 and the bolt hole 136 of the translation sleeve 134, when the second force arm 7 rotates along with the motor to drive the moving plates 9 to move, the moving ball 83 inside the circular platform seat 82 moves out of sliding along the inside of the circular platform seat 82, the connecting rod 84 is driven, the connecting rod 84 and the moving ball 83 are matched in a universal shaft rotating mode under the matching effect, the stability between the telescopic rod 5 and the second force arm 7 is kept, and the stability of the moving plates 9 is also kept.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A three degree-of-freedom parallel robot comprising: a stability maintaining mechanism (8), an expanding mechanism (10), a first connecting mechanism (11), a second connecting mechanism (12), and a mounting mechanism (13), characterized in that the parallel robot further comprises: the mounting table comprises a mounting table (1), a first motor (2), a second motor (3), a third motor (4) and a movable plate (9), wherein the first motor (2) and the second motor (3) are symmetrically mounted on the surface of the mounting table (1), a certain gap is reserved between the first motor (2) and the second motor (3), the third motor (4) is fixedly mounted on one side of the back of the first motor (2) and the back of the second motor (3) of the mounting table (1), the output ends of the first motor (2), the second motor (3) and the third motor (4) are respectively and fixedly provided with a first force arm (6), one side, far away from the output end of the motors, of the first force arm (6) is rotatably provided with a second force arm (7) through a rotating shaft, the second force arm (7) is composed of two single rods, and the bottoms of the three second force arms (7) are jointly connected with the movable plate (9);
a central seat (52) is fixed on the surface of the mounting table (1) positioned in the gap between the first motor (2) and the second motor (3), a mounting shaft sleeve (51) is fixed on the outer surface of the central seat (52), a telescopic rod (5) is fixedly mounted inside the mounting shaft sleeve (51), a universal shaft seat (53) is fixedly mounted at the top of the movable plate (9) corresponding to the position of the telescopic rod (5), and the extension end of the telescopic rod (5) is rotatably connected with the universal shaft seat (53);
an expansion mechanism (10) for adjusting the distance between the two single rods of the second force arm (7) is arranged at the position, close to the joint of the second force arm (7) and the rotating shaft of the first force arm (6), a first connecting mechanism (11) for keeping the connectivity when the distance between the single rods of the second force arm (7) is increased is arranged between the two single rods of the second force arm (7), a second connecting mechanism (12) for keeping the stability when the distance between the single rods of the second force arm (7) is increased is arranged between the two single rods of the second force arm (7) and is positioned at the bottom of the first connecting mechanism (11), one end of the second force arm (7) far away from the joint of the second force arm and the rotating shaft of the first force arm (6) is provided with an installation mechanism (13) connected with the moving plates (9) with different sizes, and a stable maintaining mechanism (8) for maintaining the integral stability of the moving plate (9) when the distance between the two single rods of the second force arm (7) is increased is arranged on the surface of the telescopic rod (5).
2. The three-degree-of-freedom parallel robot according to claim 1, wherein the expanding mechanism (10) comprises a micro motor (101), a translational sliding cylinder (102), a bidirectional threaded rod (103), an engaging sleeve (104) and a connecting piece (105), the translational sliding cylinder (102) is arranged at the bottom of the second force arm (7), the top of the translational sliding cylinder (102) is connected with the rotating shaft of the first force arm (6), a notch is formed in the bottom of the translational sliding cylinder (102), the bidirectional threaded rod (103) is rotatably arranged in the translational sliding cylinder (102), the micro motor (101) is fixedly arranged on the outer wall of one end of the translational sliding cylinder (102), the output end of the micro motor (101) is fixedly connected with the bidirectional threaded rod (103), the two engaging sleeves (104) are symmetrically engaged and connected on the surface of the bidirectional threaded rod (103), and the connecting piece (105) is fixed at the bottom of the engaging sleeve (104), the single rod of the second force arm (7) is fixedly inserted in the connecting piece (105).
3. The three-degree-of-freedom parallel robot according to claim 2 is characterized in that memory steel sheets (106) are fixed on the inner walls of the two connecting pieces (105).
4. The three-degree-of-freedom parallel robot is characterized in that the first connecting mechanism (11) comprises a sliding sleeve (111), a first connecting plate (112), a connecting shaft (113) and a second connecting plate (114), the surfaces of two single rods of the second force arm (7) are respectively sleeved with the two sliding sleeves (111) in a sliding manner, the inner side of the sliding sleeve (111) at the upper end of the single rod of the second force arm (7) is rotatably connected with the first connecting plate (112), the inner side of the sliding sleeve (111) at the lower end of the single rod of the second force arm (7) is rotatably connected with the second connecting plate (114), the connecting shaft (113) is rotatably connected between the first connecting plate (112) and the second connecting plate (114), and the first connecting plate (112) and the second connecting plate (114) of the two single rods of the second force arm (7) are respectively rotatably connected with the connecting shaft (113).
5. The three-degree-of-freedom parallel robot according to claim 1, wherein the second connecting mechanism (12) comprises a fixing plate (121), a telescopic column (122) and a first spring (123), the fixing plate (121) is fixed on the surface of the single rod of the second force arm (7) located at the bottom of the first connecting mechanism (11), the telescopic column (122) is fixed between the two fixing plates (121) at equal intervals, and the first spring (123) is sleeved on the outer ring of the telescopic column (122).
6. The three-degree-of-freedom parallel robot according to claim 1, wherein the mounting mechanism (13) comprises a sliding rod (131), a limiting plate (132), a moving sleeve (133), a translation sleeve (134) and a second spring (137), the moving sleeve (133) is fixed to the bottoms of the two single rods of the second force arm (7), the sliding rod (131) is inserted into the two moving sleeves (133) in a sliding mode, the limiting plate (132) is fixed to two ends of the sliding rod (131), the two translation sleeves (134) are sleeved between the two moving sleeves (133) on the surface of the sliding rod (131), the translation sleeves (134) are fixedly connected with the moving sleeves (133), and the second spring (137) is fixed between the two translation sleeves (134).
7. The three-degree-of-freedom parallel robot of claim 6, wherein a mounting plate (135) is fixed to one side of the translation sleeve (134) close to the moving plate (9), bolt holes (136) are formed in four corners of the mounting plate (135), and the mounting plate (135) is fixedly connected with the moving plate (9) through the matching of the bolt holes (136) and the bolts.
8. The three-degree-of-freedom parallel robot is characterized in that the stability maintaining mechanism (8) comprises a fixing ring (81), a circular platform seat (82), a moving ball (83), a connecting rod (84) and a connecting sleeve (85), the fixing ring (81) is fixedly sleeved on the surface of the telescopic rod (5), the circular platform seat (82) is fixed on the outer wall of the fixing ring (81) corresponding to the positions of the single rods of the three second force arms (7), a moving groove is formed in the circular platform seat (82), the moving ball (83) is slidably connected in the moving groove of the circular platform seat (82), the connecting rod (84) is fixed on the surface of the moving ball (83) penetrating out of the circular platform seat (82), the connecting sleeve (85) is rotatably connected to the other end of the connecting rod (84) through a rotating shaft, and the connecting sleeve (85) is fixedly sleeved on the surface of the single rod of the second force arm (7).
9. The three-degree-of-freedom parallel robot according to claim 1, wherein the third motor (4) is installed at a position higher than the first motor (2) and the second motor (3), and the length of the second force arm (7) corresponding to the third motor (4) is longer than the length of the second force arm (7) of the first motor (2) and the second motor (3).
10. A calibration method for a robot according to any of the claims 1-9, characterized in that the calibration method comprises the steps of:
1) taking A1, A2 and A3 as the axes of three motors, setting O as the midpoint of a static platform as an origin, setting the direction of a Y axis as the direction connecting the midpoint of A1 and A2 with the origin O, setting the direction of an X axis to be vertical to the Y axis and to be intersected with the origin O, setting a Z axis to be vertical to the static platform and to be intersected with the origin O, setting B1, B2 and B3 as the connecting positions of a driving swing arm and a driven swing arm, setting C1, C2 and C3 as the connecting points of a movable platform and an extending arm, and setting up an O '-X' Y 'Z' coordinate system which is similar to the static platform;
2) the model building method is packaged into a program function package, and the corresponding delta robot model can be generated by inputting the four parameters of the radius of the mounting table (1), the radius of the moving plate (9), the length of the first force arm (6) and the length of the second force arm (7).
3) Inputting the current coordinate values into an equation through a constraint equation of an inverse kinematics algorithm of the parallel robot, and obtaining rotation angles corresponding to the three motors through solution calculation;
4) solving the equation set by inputting the known angle and rotation angle of the motor through a core equation of a positive kinematics algorithm of the parallel robot, and finally obtaining parameters of three-dimensional coordinates XYZ; the constraint equation of the kinematic algorithm is as follows:
5) when the telescopic rod (5) is in the shortest length, X, Y is made to be 0, and the minimum value of the rotation angle of the motor can be obtained; when the telescopic rod (5) is in the longest length, X, Y is set to be 0, the rotation angle of the motor is calculated, and if the rotation angle is larger than 90 degrees, the maximum value of the rotation angle of the motor is 90 degrees; and otherwise, the calculated angle is the maximum value of the rotation angle of the motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110760595.0A CN113500583B (en) | 2021-07-06 | 2021-07-06 | Three-degree-of-freedom parallel robot and calibration method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110760595.0A CN113500583B (en) | 2021-07-06 | 2021-07-06 | Three-degree-of-freedom parallel robot and calibration method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113500583A true CN113500583A (en) | 2021-10-15 |
| CN113500583B CN113500583B (en) | 2023-02-28 |
Family
ID=78011599
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110760595.0A Active CN113500583B (en) | 2021-07-06 | 2021-07-06 | Three-degree-of-freedom parallel robot and calibration method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113500583B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114619433A (en) * | 2022-03-18 | 2022-06-14 | 唐山因泰智能科技发展有限公司 | Telescopic operating mechanism |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6419211B1 (en) * | 1998-11-11 | 2002-07-16 | Abb Ab | Manipulator and method for manufacturing the manipulator |
| CN101541483A (en) * | 2006-11-15 | 2009-09-23 | 村田机械株式会社 | Parallel mechanism |
| CN102059696A (en) * | 2009-11-18 | 2011-05-18 | 鸿富锦精密工业（深圳）有限公司 | Parallel mechanism |
| CN102975194A (en) * | 2011-09-06 | 2013-03-20 | 株式会社安川电机 | Parallel link robot, parallel link robot system, and method of controlling parallel link robot |
| CN206869873U (en) * | 2017-06-29 | 2018-01-12 | 佛山思恩思智能装备有限公司 | A kind of 3-dof parallel robot |
| CN208451613U (en) * | 2017-12-29 | 2019-02-01 | 勃肯特（天津）机器人技术有限公司 | Block and parallel robot are stablized in parallel connection |
| CN212465548U (en) * | 2020-05-25 | 2021-02-05 | 温州大润展示设计制作有限公司 | Outdoor showcase |
-
2021
- 2021-07-06 CN CN202110760595.0A patent/CN113500583B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6419211B1 (en) * | 1998-11-11 | 2002-07-16 | Abb Ab | Manipulator and method for manufacturing the manipulator |
| CN101541483A (en) * | 2006-11-15 | 2009-09-23 | 村田机械株式会社 | Parallel mechanism |
| CN102059696A (en) * | 2009-11-18 | 2011-05-18 | 鸿富锦精密工业（深圳）有限公司 | Parallel mechanism |
| CN102975194A (en) * | 2011-09-06 | 2013-03-20 | 株式会社安川电机 | Parallel link robot, parallel link robot system, and method of controlling parallel link robot |
| CN206869873U (en) * | 2017-06-29 | 2018-01-12 | 佛山思恩思智能装备有限公司 | A kind of 3-dof parallel robot |
| CN208451613U (en) * | 2017-12-29 | 2019-02-01 | 勃肯特（天津）机器人技术有限公司 | Block and parallel robot are stablized in parallel connection |
| CN212465548U (en) * | 2020-05-25 | 2021-02-05 | 温州大润展示设计制作有限公司 | Outdoor showcase |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114619433A (en) * | 2022-03-18 | 2022-06-14 | 唐山因泰智能科技发展有限公司 | Telescopic operating mechanism |
| CN114619433B (en) * | 2022-03-18 | 2023-08-15 | 唐山因泰智能科技发展有限公司 | Telescopic operating mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113500583B (en) | 2023-02-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Tsai | Kinematics of a three-DOF platform with three extensible limbs | |
| CN102886777B (en) | Two-degree-of-freedom parallel mechanism with large horizontal displacement | |
| CN207983160U (en) | Connecting rod centering body | |
| CN113500583B (en) | Three-degree-of-freedom parallel robot and calibration method thereof | |
| Rodriguez Leal et al. | From origami to a new class of centralized 3-DOF parallel mechanisms | |
| Viegas et al. | A novel grid-based reconfigurable spatial parallel mechanism with large workspace | |
| Liu et al. | On the design of 6-DOF parallel micro-motion manipulators | |
| CN109079761B (en) | Two-rotation one-movement parallel robot with closed-loop branched chain | |
| CN206825405U (en) | Isotropic space two degrees of freedom rotating parallel device people | |
| CN109760017A (en) | There are two the serial-parallel mirror six degree of freedom industrial machinery arms of revolution waist for band | |
| CN206869903U (en) | Object clamping part and robot | |
| Fang et al. | Analytical identification of limb structures for translational parallel manipulators | |
| Wang et al. | Design and analysis of the gripper mechanism based on generalized parallel mechanisms with configurable moving platform | |
| Di Gregorio et al. | Dynamic performance indices for 3-DOF parallel manipulators | |
| CN109968332B (en) | Full-symmetrical three-translation grabbing robot mechanism with synchronous belt transmission structure | |
| CN106826775B (en) | Isotropic space two-degree-of-freedom rotating parallel robot | |
| CN106826767B (en) | Six-degree-of-freedom parallel mechanism based on grabbing parallel structure | |
| Zhang et al. | A new metamorphic mechanism with ability for platform orientation switch and mobility change | |
| JP7140419B2 (en) | 3-axis parallel linear robot | |
| Zeng et al. | A family of novel 2 DOF rotational decoupled parallel mechanisms | |
| Kamada et al. | Kinematic analysis of a 4-DOF parallel mechanism with large translational and orientational workspace | |
| US20200001474A1 (en) | Spring-support mechanism for parallel robots | |
| CN105619398A (en) | Branched-chain coupling two-rotation parallel mechanism | |
| CN106695766B (en) | Six-degree-of-freedom parallel device based on grabbing parallel mechanism | |
| CN218018519U (en) | Three-axis manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |