CN102601797B - Three-dimensional-translation and one-dimensional-rotation high-speed parallel robot - Google Patents

Three-dimensional-translation and one-dimensional-rotation high-speed parallel robot Download PDF

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Publication number
CN102601797B
CN102601797B CN201210099438.0A CN201210099438A CN102601797B CN 102601797 B CN102601797 B CN 102601797B CN 201210099438 A CN201210099438 A CN 201210099438A CN 102601797 B CN102601797 B CN 102601797B
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China
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moving platform
speed
robot
dimensional
effector
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CN201210099438.0A
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Chinese (zh)
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CN102601797A (en
Inventor
仲崇权
丛明
刘冬
陈晨
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大连创奇科技有限公司
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Abstract

The invention discloses a three-dimensional-translation and one-dimensional-rotation high-speed parallel robot, which belongs to the technical field of industrial robots and comprises a robot mechanical body structure, a control system and a vision system. The control system and the vision system are combined to control the robot mechanical body structure to complete required movement. The robot has four degrees of freedom of three-dimensional translation and one-dimensional rotation, high-speed automatic picking and grading placement of products can be realized, and the robot has high-speed and high-acceleration moving capacity and further has advantages of high rigidity, uniformity in stress, high positioning precision and the like.

Description

The high speed parallel robot of a kind of three-dimensional translating and one-dimensional rotation
Technical field
The invention belongs to industrial robot technical field, relate to the high speed parallel robot of a kind of three-dimensional translating and one-dimensional rotation, mainly refer to high-speed picking-up and the classification placement that in the production of electronics, food and medicine and other fields, can realize product.
Background technology
Along with electronics, food, medicine and other fields product improve constantly production efficiency and quality requirement, also just the automation transmission equipment in product line is had higher requirement.Four-degree-of-freedom high speed parallel robot is a kind of important form of automation transmission equipment, and it can place product high speed, steady, clean picking up with classification between different production lines.This robot needs three translational degree of freedom to realize the transmission of product in space, also should have a rotary freedom to realize picking up different attitude products simultaneously..
In the prior art, to automatic Picking equipment, the research of quick pick-up robot particularly with four-degree-of-freedom is relatively less.US Patent No. 4976582 discloses a kind of Space Axisymmetric three-translational parallel connection mechanism, and this mechanism comprises three side chains, and every side chain comprises upper arm and underarm two parts.The form of this type of mechanism's underarm is divided into two kinds, and one is single pole form, and the two ends of bar are connected with moving platform respectively at upper arm by Hooke's hinge; A kind of is the parallelogram that two bars form, every bar two ends are connected with moving platform respectively at upper arm by ball pivot, wherein upper arm one end only has a movement or rotational freedom with respect to fixed frame, the other end is connected with one end of underarm by ball pivot, thereby restriction moving platform is with respect to three revolution frees degree of fixed platform.Adopt the mechanism of this configuration only to there is the three degree of freedom of space translation, can not realize the rotation of pick-up angles.
European patent 1084802 has been announced a kind of four-degree-of-freedom in parallel robot, and this robot comprises four side chains, and every side chain is made up of servomotor, upper arm and underarm.Side chain upper arm connects the output mechanism of servomotor, and servomotor is arranged in fixed platform; Side chain underarm is the parallelogram that two bars form, and every bar two ends are connected with upper arm and moving platform by ball pivot; Moving platform is made up of three bars, and wherein two bars are connected and are parallel to each other with side chain underarm by ball pivot, and the 3rd bar connects two bars between two bars, and for pick device is installed, this moving platform has a rotary freedom.Due to the particular design of this robot moving platform, make the asymmetric installation of side chain and motor, cause discontinuity between robot side chain, high-speed motion and stability to robot have a certain impact.
Summary of the invention
For the deficiency of above-mentioned prior art, the invention provides a kind of four-degree-of-freedom high speed parallel robot, this robot has three-dimensional translating and four frees degree of one-dimensional rotation, quick pick-up and the classification that can realize product are placed, and can combine with vision system, adjust the anglec of rotation of moving platform, realize picking up different attitude products; This robot has at a high speed, High acceleration motion ability, also has good rigidly, stressed even, positioning precision high simultaneously.
For achieving the above object, the technical solution used in the present invention is as follows:
The high speed parallel robot of a kind of three-dimensional translating of the present invention and one-dimensional rotation, comprises robot basic machine structure, control system and vision system.By the combination of control system and vision system, the basic machine structure of control reaches required athletic performance.
Described robot basic machine structure comprises fixed platform, driving mechanism, side chain and moving platform.Fixed platform is used for installing fixing entire machine people, makes robot have a working environment stably; Driving mechanism drives side chain and moving platform to realize four-degree-of-freedom motion; Article four, the identical and axial symmetry of branched structure is evenly arranged, and side chain upper end connects driving mechanism, and end connects moving platform, realizes the transmittance process of action; Moving platform has three-dimensional mobile and four frees degree of one-dimensional rotation by the coupled motions of four interchains, moving platform drives end effector in space, to realize the motion of four frees degree, wherein, three-dimensional translating is synchronizeed with actual motion, and one-dimensional rotation need amplify the anglec of rotation that can reach actual demand through enlarger.High speed, stably crawl and classification that four frees degree of the high speed parallel robot of a kind of three-dimensional translating of the present invention and one-dimensional rotation can realize product are placed.
Fixed platform, which is provided with installing hole, for the installation of parallel robot and being located by connecting of motor support frame; In fixed platform, have four motor support frames, four motor support frames are installed in fixed platform axial symmetry, and the upper limit gripper shoe of upper limit position block and the sensor mount with limit switch are installed on it;
Driving mechanism is made up of servomotor and decelerator, is fixedly mounted on motor support frame, is connected with side chain upper arm by output flange.
Side chain comprises master arm, ball-joint, slave arm, slave arm extension spring, ball-joint connector, slave arm connecting pin and pin end nut; Article four, the identical and axial symmetry of branched structure is evenly arranged, wherein, master arm upper end connects the precision speed reduction device output flange of driving mechanism, the other end connects respectively two slave arms that are parallel to each other by two ball-joints, slave arm two ends are with ball-joint connector, and between ball-joint, be fixedly connected with pin end nut by slave arm connecting pin, on corresponding pin end nut, hang with slave arm extension spring.
Moving platform parallel-crank mechanism is by moving platform connecting plate, moving platform support, rotary joint, bearing bracket, belt wheel link and end effector enlarger; Two moving platform connecting plates are parallel to each other, and connect respectively the ball-joint of corresponding side chain slave arm lower end; Two moving platform supports that are parallel to each other connect to form moving platform parallelogram sturcutre by rotary joint and two moving platform connecting plates that are parallel to each other; Described rotary joint is installed and is connected by seal angle contact bearing.
End effector enlarger comprises small synchronous pulley, large synchronous pulley, Timing Belt and end effector flange; Large synchronous pulley is fixedly mounted on a moving platform support by belt wheel link; Small synchronous pulley is installed and is connected on another moving platform support by end effector flange and angular contact ball bearing, makes small synchronous pulley have and rotatablely move with respect to this moving platform support; Timing Belt transmits rotatablely moving between the two, the anglec of rotation of end effector flange is reached ± 180 °, on end effector flange, end effector is installed.
Described control system, comprises networking Programmable Logic Controller, dual bus, High Speed I/O expansion module and servo controller.Described control system is taking networking Programmable Logic Controller as core, by dual bus and High Speed I/O expansion module network consisting.Wherein automation controller able to programme is for logical process and the concurrent outgoing packet of data operation; Dual bus is for the transfer of data between networking Programmable Logic Controller and High Speed I/O expansion module; High Speed I/O expansion module is used for receiving the message that networking Programmable Logic Controller sends, and exports high-speed pulse to servo controller, also for being responsible for reading in and exporting of other IO signals; Servomechanism has been used for the closed-loop control to servomotor.
Described vision system, mainly comprises camera, image processor and external sensor.Described external sensor is for detection of being picked up product; Camera is for being picked up the IMAQ of product; Image processor is to the image of examined product through smothing filtering, and contrast strengthens, edge extracting, the processing such as binaryzation, carry out similarity with product standard template and mate, extract coordinate figure and the deflection angle of examined product, send to networking Programmable Logic Controller by network.
Effect of the present invention and benefit are:
(1) this high speed parallel robot has four frees degree, can implementation space three-dimensional translating and one-dimensional rotation, improve the ability to work of such robot;
(2) the equal axial symmetry of the side chain of this high speed parallel robot and motion platform is evenly arranged, and makes mechanism without space singular position and stressed even, and has improved the integral rigidity of robot;
(3) this high speed parallel robot combines with vision system by control system, robot basic machine structure can be realized High-Speed Automatic the picking up with classification of different attitude products placed;
(4) this high speed parallel robot is by the real-time Communication for Power of network control system, and Shi Gai robot can have stable exercise performance and accurately locate the in the situation that of high speed and high acceleration.
Brief description of the drawings
Fig. 1 is the axonometric drawing of the high speed parallel robot of a kind of three-dimensional translating of the present invention and one-dimensional rotation.
Fig. 2 is the front view of the high speed parallel robot of a kind of three-dimensional translating of the present invention and one-dimensional rotation.
Fig. 3 is the top view of the high speed parallel robot moving platform of a kind of three-dimensional translating of the present invention and one-dimensional rotation.
Fig. 4 is the cutaway view of the high speed parallel robot moving platform of a kind of three-dimensional translating of the present invention and one-dimensional rotation.
Fig. 5 is the axonometric drawing of the high speed parallel manipulator human branched chain of a kind of three-dimensional translating of the present invention and one-dimensional rotation.
Fig. 6 is the network structure of the high speed parallel robot of a kind of three-dimensional translating of the present invention and one-dimensional rotation.
In figure: I fixed platform, II driving mechanism, III side chain, IV moving platform;
1 fixed platform, 2 upper limit gripper shoes, 3 ball-joints, 4 upper limit position blocks, 5 servomotors, 6 master arms, 7 pin end nuts, 8 slave arm extension springs, 9 slave arms, 10 ball-joint connectors, 11 sensor mounts, 12 decelerators, 13 limit switches, 14 motor support frames, 15 moving platform connecting plates, 16 rotary joints, 17 moving platform supports, 18 end effector flanges, 19 large synchronous pulleys, 20 moving platform supports, 25 bearing brackets, 21 angular contact ball bearings, 22 small synchronous pulleys, 23 belt wheel links, 24 Timing Belts, 26 slave arm connecting pins.
Detailed description of the invention
Describe specific embodiments of the invention in detail below in conjunction with technical scheme and accompanying drawing.
The high speed parallel robot of a kind of three-dimensional translating of the present invention and one-dimensional rotation comprises robot basic machine structure, control system and vision system three parts; Control system by wherein and the combination of vision system, control basic machine structure reaches required athletic performance.
The embodiment of robot basic machine structure
As shown in Figure 1, robot basic machine structure is made up of fixed platform I, driving mechanism II, side chain III and moving platform IV, adopts electric-control system to drive, and realizes three-dimensional translating and the one-dimensional rotation of moving platform IV, and in conjunction with vision system accurately picking up product.
Be fixedly mounted on servomotor 5 on motor support frame 14 output flange on decelerator 12 and pass motion to master arm 6; Driving mechanism II provides a rotational freedom for connected master arm 6, and master arm 6 drives slave arm 9 to move by ball-joint 3, and the parallel-crank mechanism being made up of slave arm 9 and ball-joint 3 passes motion to moving platform connecting plate 15; Moving platform IV realizes three-dimensional mobile and one-dimensional rotation by the coupled motions of four interchains; Wherein, between the moving platform support 17 of composition moving platform parallelogram sturcutre, the changing of the relative positions drives the synchronous changing of the relative positions of large synchronous pulley 19 being fixedly mounted between moving platform support on 17 mutually, make large synchronous pulley 19 and the installation site of small synchronous pulley 22 produce the changing of the relative positions angle of 45 °, connect through Timing Belt 24, the anglec of rotation of small synchronous pulley 22 is amplified, the anglec of rotation of the end effector flange 18 of synchronizeing with small synchronous pulley 22 reaches ± and 180 °.
The embodiment of control system
Control system is taking networking Programmable Logic Controller as control core, and by dual bus and High Speed I/O expansion module network consisting, the real-time Communication for Power of dual bus completes networking Programmable Logic Controller and High Speed I/O expansion module carries out exchanges data; Networking Programmable Logic Controller is put into the service data of each servomotor calculating in message, when through each High Speed I/O expansion module, High Speed I/O expansion module obtains the operation information of each servomotor, message, turn back to automation controller able to programme after all High Speed I/O expansion modules, completes the communication of one-period; High Speed I/O expansion module receives the Next movement position of servomotor, velocity and acceleration information in each communication cycle, converts thereof into high-speed pulse output, finally controls each servomotor operation.
The embodiment of vision system
Vision system is detected and is picked up product by external sensor, trigger camera and carry out IMAQ, the image collecting is through the smothing filtering of image processor, contrast strengthens, and edge extracting, after binaryzation etc. are processed, carrying out similarity with product standard template mates, if the match is successful, extract the information of coordinate figure and the deflection angle of image, then send information to automation controller able to programme by network.
Overall operation process of the present invention
As shown in Figure 6, the networking control structure that the high speed parallel robot Adoption Network Programmable Logic Controller of a kind of three-dimensional translating of the present invention and one-dimensional rotation combines with High Speed I/O expansion module, vision system by image processor by camera collection to product image carry out similarity with standard form and mate, then the information of extracting product coordinate figure and deflection angle sends to networking Programmable Logic Controller, networking Programmable Logic Controller carries out anti-solution to robot moving platform pose and calculates, and the result of calculating is converted into pulse value, be packaged into message and send to High Speed I/O expansion module, High Speed I/O expansion module receives new message in each communication cycle, extract control information, control output displacement and the rotation direction of four servomotors, ensureing that moving platform completes places High-Speed Automatic the picking up with classification of product.

Claims (1)

1. a high speed parallel robot for three-dimensional translating and one-dimensional rotation, comprises robot basic machine structure, control system and vision system; It is characterized in that:
Robot basic machine structure, comprises fixed platform (I), driving mechanism (II), side chain (III) and for the moving platform (IV) of end effector is installed:
Fixed platform (I) is provided with installing hole, for the installation of robot and being located by connecting of motor support frame (14); Four motor support frames are housed in fixed platform, four motor support frames (14) are installed in the upper axial symmetry of fixed platform (I), and the upper limit gripper shoe (2) of upper limit position block (4) and the sensor mount (11) of band limit switch (13) are installed on it;
Driving mechanism (II) comprises high pulling torque servomotor (5) and precision speed reduction device (12), and described precision speed reduction device adopts flange shaft type;
Article four, the identical and axial symmetry of side chain (III) structure is evenly arranged, and comprises master arm (6), ball-joint (3), slave arm (9), slave arm extension spring (8), ball-joint connector (10), slave arm connecting pin (26) and pin end nut (7); Master arm (6) upper end connects the precision speed reduction device output flange axle of driving mechanism (II), the other end connects respectively two slave arms that are parallel to each other (9) by two ball-joints (3), slave arm (9) two ends are with ball-joint connector (10), and between ball-joint (3), be fixedly connected with pin end nut (7) by slave arm connecting pin (26), on corresponding pin end nut (7), hang with slave arm extension spring (8); Described side chain master arm (6) adopts I-shaped structure; Described slave arm (9) adopts cylinder structure, and material is carbon fiber;
Moving platform (IV) comprises moving platform connecting plate (15), moving platform support (17,20), rotary joint (16), bearing bracket (25), belt wheel link (23) and end effector enlarger; Two moving platform connecting plates (15) are parallel to each other, and connect respectively the ball-joint (3) of corresponding side chain (III) slave arm (9) lower end; Two moving platform supports that are parallel to each other (17,20) connect to form moving platform parallelogram sturcutre by rotary joint (16) and two moving platform connecting plates (15) that are parallel to each other;
Described end effector enlarger comprises small synchronous pulley (22), large synchronous pulley (19), Timing Belt (24) and end effector flange (18); Large synchronous pulley is fixedly mounted on a moving platform support (20) by belt wheel link (23); Small synchronous pulley (22) is installed and is connected to another moving platform support (17) above by end effector flange (18) and angular contact ball bearing (21), makes small synchronous pulley (22) have and rotatablely move with respect to moving platform support (17); Timing Belt transmits rotatablely moving between the two, the anglec of rotation of end effector flange (18) is reached ± 180 °, the upper end effector of installing of end effector flange (18);
Described control system, taking networking Programmable Logic Controller as core, by dual bus and High Speed I/O expansion module network consisting, comprises networking Programmable Logic Controller, dual bus, High Speed I/O expansion module and servo controller; Networking Programmable Logic Controller is for logical process and the concurrent outgoing packet of data operation; Dual bus is for the transfer of data between networking Programmable Logic Controller and High Speed I/O expansion module; High Speed I/O expansion module is used for receiving the message that prgraming automatized controller sends, and exports high-speed pulse to servo controller, also for being responsible for reading in and exporting of other IO signals; Servomechanism has been used for the closed-loop control to servomotor;
Described vision system, comprises external sensor, camera and image processor; Wherein, external sensor is for detection of being picked up product; Camera is for being picked up the IMAQ of product; Image process smothing filtering, contrast enhancing, edge extracting, the binary conversion treatment of image processor to examined product, carrying out similarity with product standard template mates, the coordinate figure and the deflection angle that extract examined product, send to networking Programmable Logic Controller by network.
CN201210099438.0A 2012-04-07 2012-04-07 Three-dimensional-translation and one-dimensional-rotation high-speed parallel robot CN102601797B (en)

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