CN104191427A - Parallel mechanism arm - Google Patents
Parallel mechanism arm Download PDFInfo
- Publication number
- CN104191427A CN104191427A CN201410419833.1A CN201410419833A CN104191427A CN 104191427 A CN104191427 A CN 104191427A CN 201410419833 A CN201410419833 A CN 201410419833A CN 104191427 A CN104191427 A CN 104191427A
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- CN
- China
- Prior art keywords
- arm
- overhang
- transmission mechanism
- hinged
- parallel manipulator
- 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.)
- Pending
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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
- B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a parallel mechanical arm. The parallel mechanism arm comprises a fixing frame, a horizontal plate, a plurality of overhung frames, a plurality of transmission mechanisms and a suction device. The horizontal plate is fixed to the top of the fixing frame. One end of each overhung frame is fixedly connected with the horizontal plate. The other end of each overhung frame downwards extends out vertically. The suction device is located below the overhung frames. The overhung frames are in axis symmetry about the vertical line where the center of the horizontal plate is located. Each transmission mechanism comprises a driving arm, a driven arm, a speed reducer and a servo motor. The speed reducer is fixedly connected with the lower end of the corresponding overhung frame. An output shaft of each servo motor is in butt joint with one end of the corresponding driving arm through the speed reducer. The other end of each driving frame is hinged to one end of the corresponding driven arm. The other end of each driven arm is hinged to the suction device. The parallel mechanical arm is small in error, high in space utilization rate and reliable in use.
Description
Technical field
The present invention relates to manipulator, be specifically related to parallel manipulator.
Background technology
In traditional factory, sort, pick up, a large amount of repetitive operation such as vanning, generally by manually completing, have labour intensity large, consuming time more, uninteresting, easily the problem such as pollute, and can increase the cost of enterprise.Therefore in these fields, need manipulator to slight small item material carry out at a high speed in, the operation such as short distance crawl, carrying and placement.And general in industrial production what adopt is Serial manipulator, and Serial manipulator has following shortcoming:
(1) bearing capacity is low, and rigidity is little, and structure is stable not;
(2) error of end execution unit is the bioaccumulation and biomagnification by each joint error, so its error is large and precision is low;
(3) drive motors and servo-drive system are mostly placed on the large forearm of motion, have increased the motional inertia of system, have worsened the power performance of system;
(4) mechanism to take working space large, also easily with workbench interference.
Summary of the invention
In order to overcome the deficiencies in the prior art, the object of the present invention is to provide that a kind of error is little, space availability ratio is large, service-strong parallel manipulator.
Object of the present invention adopts following technical scheme to realize:
Parallel manipulator, comprise a fixed mount, a level board, a plurality of overhang, a plurality of transmission mechanism and an adsorbent equipment, level board is fixed on the top of fixed mount, one end of each overhang is affixed level board respectively, the other end of each overhang stretches out straight down, adsorbent equipment is positioned at overhang below, and each overhang is with the vertical curve axial symmetry distribution at the place, center of level board; Each transmission mechanism includes master arm, slave arm, decelerator and servomotor, the lower end of decelerator and overhang is affixed, the output shaft of servomotor is through one end of decelerator docking master arm, the other end of master arm and one end of slave arm are hinged, and the other end and the adsorbent equipment of slave arm are hinged.
Preferably, described adsorbent equipment comprises moving platform, stepper motor, rotating shaft, link, tube connector and sucker, the other end of moving platform and slave arm is hinged, stepper motor is fixed on the center of moving platform end face, the output shaft of this stepper motor docks with the upper end of rotating shaft, rotating shaft and moving platform are rotatably assorted, and the lower end of rotating shaft connects link, tube connector and sucker successively.
Preferably, described moving platform is polygonal panel, has the breach equating with transmission mechanism quantity in this polygonal panel, and each breach distributes with the Central Symmetry of polygonal panel, between adjacent breach, form the articulated section of lateral projection, the other end and the articulated section of described slave arm are hinged.
Preferably, described in each, the slave arm of transmission mechanism is two, two slave arm spaces, and one end of two slave arms is connected with master arm other end two side ball pivot, the other end of two slave arms respectively with the two side of described articulated section removably ball pivot be connected.
Preferably, described in each, transmission mechanism also comprises strainer, and this strainer comprises a spring and two hooks, and the two ends of spring connect respectively one end of two hooks, and the other end of two hooks is hinged with two slave arms respectively.
Preferably, be laterally extended with hanging scroll on described slave arm, the other end of described hook forms eave tile, and this eave tile hook is rotatably assorted in hanging scroll and with hanging scroll.
Preferably, described parallel manipulator also comprises the CCD vision system for taking and the industrial computer that the captured image of this CCD vision system is carried out to image analysis processing, and described servomotor and stepper motor are electrically connected to respectively industrial computer; Described CCD vision system comprises light source and CCD camera; Described light source is positioned at the bottom of CCD camera, and this CCD camera is also communicated by letter with described industrial computer by a communication interface.
Preferably, described fixed mount is a cuboid framework erecting, and level board, overhang, transmission mechanism and adsorbent equipment are all positioned at this cuboid framework.
Compared to existing technology, beneficial effect of the present invention is:
(1) the present invention by overhang respectively with being connected of level board and transmission mechanism, realize the mounting means of suspension type, make that profile of the present invention is little, quality is light, space availability ratio is large, reduced the interference with other relevant devices, the installation of being convenient to various occasions is placed;
(2) the present invention is by the common hinged adsorbent equipment of a plurality of transmission mechanisms, the acting in conjunction of each transmission mechanism to adsorbent equipment, can reduce inertia, promote power performance, and make self error of each transmission mechanism form mean value, realize the small but excellent degree of error highland and drive adsorbent equipment action, can be applicable to various crawls and the sorting operation of multiple occasion, improve greatly production efficiency, saved cost;
(3) the present invention is by the setting to moving platform shape and breach, can make two slave arms be sandwiched in both sides, articulated section, moving platform is realized on the basis of enough frees degree, can obtain again more reliable, stable transmission support, both be beneficial to the effective absorption of absorption platform to object, greatly reduced again the vibrations that transmission mechanism is passed to object, and, the link of rotating shaft below is detachable, can change easily different adsorbent equipments and grabbing device for adsorbing and capturing different objects.
(4) the present invention is by the CCD vision system and the industrial computer that arrange, not only can accurately locate the article that capture vanning to be sorted, can also detect accurately the superiority-inferiority of article to be cased, prevention defective products enters subsequent processing, thereby pinpoint the problems in time, improve yields, met user's instructions for use.
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view of parallel manipulator of the present invention;
Fig. 2 is the A place enlarged diagram of Fig. 1;
Fig. 3 is the structural representation of moving platform of the present invention.
In figure: 1, fixed mount; 2, level board; 3, overhang; 4, transmission mechanism; 41, master arm; 42, slave arm; 421, hanging scroll; 43, decelerator; 44, servomotor; 45, strainer; 451, spring; 452, hook; 453, eave tile; 5, adsorbent equipment; 51, moving platform; 511, breach; 512, articulated section; 52, stepper motor; 53, rotating shaft; 54, link; 55, tube connector; 56, sucker.
The specific embodiment
Parallel manipulator as shown in Figure 1, comprise a fixed mount 1, a level board 2, a plurality of overhang 3, a plurality of transmission mechanism 4 and an adsorbent equipment 5, level board 2 is fixed on the top of fixed mount 1, one end of each overhang 3 is affixed level board 2 respectively, the other end of each overhang 3 stretches out straight down, adsorbent equipment 5 is positioned at overhang 3 belows, and each overhang 3 is with the vertical curve axial symmetry distribution at the place, center of level board 2; Each transmission mechanism 4 includes master arm 41, slave arm 42, decelerator 43 and servomotor 44, decelerator 43 is affixed with the lower end of overhang 3, the output shaft of servomotor 44 is through one end of decelerator 43 docking master arms 41, one end of the other end of master arm 41 and slave arm 42 is hinged, and the other end of slave arm 42 and adsorbent equipment 5 are hinged.
By overhang 3 respectively with being connected of level board 2 and transmission mechanism 4, realize the mounting means of the suspension type of transmission mechanism 4, make that profile of the present invention is little, quality is light, space availability ratio is large, this routine fixed mount 1 is a cuboid framework erecting, level board 2, overhang 3, transmission mechanism 4 and adsorbent equipment 5 are all positioned at this cuboid framework, can further prevent from interfering with operate outside platform.By the common hinged adsorbent equipment 5 of a plurality of transmission mechanisms 4, make self error of each transmission mechanism 4 form mean value, realize the small but excellent degree of error highland and drive adsorbent equipment action.Under the drive of servomotor 44, after decelerator 43 slows down, can drive master arm 41 with respect to its corresponding overhang 3 rotations, and then drive 42 pairs of adsorbent equipments of each slave arm 5 to produce active force, thereby drive adsorbent equipment 5 motions, 5 of adsorbent equipments can be aimed at adsorbent article, are beneficial to reliable sorting, pick up article.Wherein, this routine overhang 3, transmission mechanism 4 are three, can form balance, stable power transmission relationship.
As shown in Fig. 2～3, this routine adsorbent equipment 5 comprises moving platform 51, stepper motor 52, rotating shaft 53, link 54, tube connector 55 and sucker 56, moving platform 51 is hinged with the other end of slave arm 42, stepper motor 52 is fixed on the center of moving platform 51 end faces, the output shaft of this stepper motor 52 docks with the upper end of rotating shaft 53, rotating shaft 53 is rotatably assorted with moving platform 51, configurable bearing is beneficial to this and is rotatably assorted, the lower end of rotating shaft 53 connects link 54, tube connector 55 and sucker 56 successively, makes sucker 56 obtain enough stable support forces.Under the rotation of stepper motor 52 drives, through rotating shaft 53, link 54 and tube connector 55, can order about sucker 56 and rotate, thereby strengthen the adsorption effect to article, to tube connector 55 access external vacuum sources of the gas, just can form negative pressure for absorption at sucker 56 places.Certainly also can add the induction installations such as approach switch at adsorbent equipment 5, for responding to the position of article.
This routine moving platform 51 is polygonal panel, in this polygonal panel, have the breach 511 equating with transmission mechanism 4 quantity, each breach 511 distributes with the Central Symmetry of polygonal panel, 511 articulated sections 512 that form lateral projection of adjacent breach, and the other end of slave arm 42 and articulated section 512 are hinged.Breach 511 is set in polygonal panel and forms the mode of articulated section 512, be convenient to slave arm 42 and moving platform 51 without interfering, smooth and easy, hinged reliably.
The slave arm 42 of each transmission mechanism 4 is two, all be thin rod shape, two slave arm 42 spaces, and one end of two slave arms 42 is connected with master arm 41 other end two side ball pivots, the other end of two slave arms 42 respectively with the two side of articulated section 512 removably ball pivot be connected.Two slave arms 42 are sandwiched in 512 both sides, articulated section, and moving platform 51 is realized on the basis of enough frees degree, can obtain again more reliable, stable transmission support.
Action for two slave arms 42 on further synchronous each transmission mechanism 4, each transmission mechanism 4 also comprises strainer 45, this strainer 45 comprises a spring 451 and two hooks 452, the two ends of spring 451 connect respectively one end of two hooks 452, and the other end of two hooks 452 is hinged with two slave arms 42 respectively.Spring 451 can tensioning two slave arms 42, guarantee two slave arms 42 keeping parallelisms constantly, the mobile accuracy obtaining that makes adsorbent equipment 5 more accurately, reliable.
For ease of mounting or dismounting, on slave arm 42, be laterally extended with hanging scroll 421, the other end of hook 452 forms eave tile 453, and these eave tile 453 hooks are rotatably assorted in hanging scroll 421 and with hanging scroll 421.
This parallel manipulator also comprises the CCD vision system (not shown) for taking and the industrial computer (not shown) of the captured image of this CCD vision system being carried out to image analysis processing, servomotor 44 and stepper motor 52 are electrically connected to respectively industrial computer, to control the rotation of servomotor 44 and stepper motor 52 by industrial computer; CCD vision system comprises light source and CCD camera; Light source is positioned at the bottom of CCD camera, and this CCD camera is also communicated by letter with industrial computer by a communication interface.CCD vision system is taken pictures by CCD camera, can coordinate the image analysis processing software of industrial computer inside to detect the actual look information that will process article, then by industrial computer, this information and standard article are analysed and compared, according to automatic comparison analysis result, determine whether article are picked up again, if find that result is in the scope of error, industrial computer will directly be controlled article are picked up so, otherwise will skip these article, next article is identified to processing, thereby can find in time to need the quality of processing article quality, greatly promoted the assurance to quality, promoted yields.
Above-mentioned embodiment is only the preferred embodiment of the present invention; can not limit the scope of protection of the invention with this, the variation of any unsubstantiality that those skilled in the art does on basis of the present invention and replacement all belong to the present invention's scope required for protection.
Claims (8)
1. parallel manipulator, it is characterized in that: comprise a fixed mount, a level board, a plurality of overhang, a plurality of transmission mechanism and an adsorbent equipment, level board is fixed on the top of fixed mount, one end of each overhang is affixed level board respectively, the other end of each overhang stretches out straight down, adsorbent equipment is positioned at overhang below, and each overhang is with the vertical curve axial symmetry distribution at the place, center of level board; Each transmission mechanism includes master arm, slave arm, decelerator and servomotor, the lower end of decelerator and overhang is affixed, the output shaft of servomotor is through one end of decelerator docking master arm, the other end of master arm and one end of slave arm are hinged, and the other end and the adsorbent equipment of slave arm are hinged.
2. parallel manipulator according to claim 1, it is characterized in that: described adsorbent equipment comprises moving platform, stepper motor, rotating shaft, link, tube connector and sucker, the other end of moving platform and slave arm is hinged, stepper motor is fixed on the center of moving platform end face, the output shaft of this stepper motor docks with the upper end of rotating shaft, rotating shaft and moving platform are rotatably assorted, and the lower end of rotating shaft connects link, tube connector and sucker successively.
3. parallel manipulator according to claim 2, it is characterized in that: described moving platform is polygonal panel, in this polygonal panel, have the breach equating with transmission mechanism quantity, each breach distributes with the Central Symmetry of polygonal panel, between adjacent breach, form the articulated section of lateral projection, the other end and the articulated section of described slave arm are hinged.
4. parallel manipulator according to claim 3, it is characterized in that: described in each, the slave arm of transmission mechanism is two, two slave arm spaces, and one end of two slave arms is connected with master arm other end two side ball pivot, the other end of two slave arms respectively with the two side of described articulated section removably ball pivot be connected.
5. parallel manipulator according to claim 4, it is characterized in that: described in each, transmission mechanism also comprises strainer, this strainer comprises a spring and two hooks, and the two ends of spring connect respectively one end of two hooks, and the other end of two hooks is hinged with two slave arms respectively.
6. parallel manipulator according to claim 5, is characterized in that: on described slave arm, be laterally extended with hanging scroll, the other end of described hook forms eave tile, and this eave tile hook is rotatably assorted in hanging scroll and with hanging scroll.
7. according to the parallel manipulator described in claim 1～6 any one, it is characterized in that: described parallel manipulator also comprises the CCD vision system for taking and the industrial computer that the captured image of this CCD vision system is carried out to image analysis processing, and described servomotor and stepper motor are electrically connected to respectively industrial computer; Described CCD vision system comprises light source and CCD camera; Described light source is positioned at the bottom of CCD camera, and this CCD camera is also communicated by letter with described industrial computer by a communication interface.
8. according to the parallel manipulator described in claim 1～6 any one, it is characterized in that: described fixed mount is a cuboid framework erecting, and level board, overhang, transmission mechanism and adsorbent equipment are all positioned at this cuboid framework.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410419833.1A CN104191427A (en) | 2014-08-22 | 2014-08-22 | Parallel mechanism arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410419833.1A CN104191427A (en) | 2014-08-22 | 2014-08-22 | Parallel mechanism arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104191427A true CN104191427A (en) | 2014-12-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410419833.1A Pending CN104191427A (en) | 2014-08-22 | 2014-08-22 | Parallel mechanism arm |
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| CN (1) | CN104191427A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104772286A (en) * | 2015-03-19 | 2015-07-15 | 浙江工业大学 | Kinect based novel sorting system and operation method thereof |
| CN104858867A (en) * | 2015-06-10 | 2015-08-26 | 深圳博美德机器人有限公司 | DELTA parallel manipulator and DELTA parallel robot |
| CN104907477A (en) * | 2015-05-09 | 2015-09-16 | 江苏瑞莱克斯自动化科技有限公司 | Rotary assembling system |
| CN105269558A (en) * | 2015-10-22 | 2016-01-27 | 广州达意隆包装机械股份有限公司 | Parallel robot |
| CN109129440A (en) * | 2018-10-21 | 2019-01-04 | 西北农林科技大学 | A kind of fruit sorting grasping mechanism |
| CN110339516A (en) * | 2019-08-08 | 2019-10-18 | 北京新松融通机器人科技有限公司 | A kind of device of view-based access control model detection and arm automatic butt fire hose in parallel |
| WO2021225438A1 (en) * | 2020-05-06 | 2021-11-11 | Blueprint Holding B.V. | End-effector for a delta robot |
| US20230390011A1 (en) * | 2020-12-30 | 2023-12-07 | Point Robotics (Singapore) Pte. Ltd. | Medical device for manipulating surgical tool |
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| CN204123394U (en) * | 2014-08-22 | 2015-01-28 | 深圳大宇精雕科技有限公司 | Parallel manipulator |
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| CN102049776A (en) * | 2009-10-26 | 2011-05-11 | 发那科株式会社 | Parallel link robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104772286A (en) * | 2015-03-19 | 2015-07-15 | 浙江工业大学 | Kinect based novel sorting system and operation method thereof |
| CN104907477A (en) * | 2015-05-09 | 2015-09-16 | 江苏瑞莱克斯自动化科技有限公司 | Rotary assembling system |
| CN104858867A (en) * | 2015-06-10 | 2015-08-26 | 深圳博美德机器人有限公司 | DELTA parallel manipulator and DELTA parallel robot |
| CN105269558A (en) * | 2015-10-22 | 2016-01-27 | 广州达意隆包装机械股份有限公司 | Parallel robot |
| CN109129440A (en) * | 2018-10-21 | 2019-01-04 | 西北农林科技大学 | A kind of fruit sorting grasping mechanism |
| CN110339516A (en) * | 2019-08-08 | 2019-10-18 | 北京新松融通机器人科技有限公司 | A kind of device of view-based access control model detection and arm automatic butt fire hose in parallel |
| CN110339516B (en) * | 2019-08-08 | 2021-10-26 | 北京新松融通机器人科技有限公司 | Device for automatically butting fire hose based on visual detection and parallel arms |
| WO2021225438A1 (en) * | 2020-05-06 | 2021-11-11 | Blueprint Holding B.V. | End-effector for a delta robot |
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| US20230390011A1 (en) * | 2020-12-30 | 2023-12-07 | Point Robotics (Singapore) Pte. Ltd. | Medical device for manipulating surgical tool |
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Application publication date: 20141210 |
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