CN107825402A - A kind of Three Degree Of Freedom high speed conveying robot - Google Patents

Abstract

The invention relates to a three-degree-of-freedom high-speed handling manipulator, including a frame, a moving platform, and an actuator connecting the frame and the moving platform. The actuator includes a branch chain and a driving device. The branch chain includes a rotatable The main arm is installed on the rack ground, and the main arm is connected with the output shaft of the driving device; one end is connected with the main arm, and the other end is connected with the moving platform. The platforms respectively have at least two degrees of freedom; there are three branch chains, and each branch chain is equipped with a driving device to drive the moving platform to move in three-dimensional space. The invention has better lateral stiffness, simple overall structure, and can meet the requirements of high speed and large bearing capacity.

Description

A three-degree-of-freedom high-speed handling manipulator

technical field

The invention relates to the field of industrial manipulators, in particular to a three-degree-of-freedom high-speed handling manipulator.

Background technique

With the development of my country's economy, high-speed handling manipulators are becoming more and more important in production applications. They can replace human labor in many industrial fields and realize production automation. The use of high-speed handling manipulators can not only reduce human physical labor and waste of human resources, but also effectively improve work efficiency. The automatic production lines in food, electronics, light industry, medicine and other industries often involve the handling of small and light products such as biscuits and resin lenses between two points. This kind of handling generally requires extremely high The speed is in line with the beat of the production line. Existing light-load handling manipulators are mainly divided into two configurations: parallel mechanism and series mechanism, and most of the existing series mechanisms have motors directly installed on the rotating shaft, which increases the weight of moving parts and makes it difficult to achieve high-speed movement. The Chinese invention patent with publication number CN100446941 discloses a parallel mechanism with three translational degrees of freedom with asymmetric branch chains. It consists of a frame, a moving platform with a main shaft, and three motion branch chains arranged between the frame and the moving platform; the three motion branch chains include two telescopic active A branch chain and a parallel active branch chain arranged at the lower part of the mechanism; the two telescopic active branch chains are respectively composed of an upper Hooke hinge, a telescopic rod connected to the upper Hooke hinge, and a motor arranged at the lower part of the telescopic rod and a lower Hooke hinge arranged outside the motor; the parallel active branch chain is a planar hinge mechanism composed of two parallelogram structures connected by brackets; the connections between the three motion branch chains and the frame are all located in the mechanism below. The asymmetric branch chains in this invention tend to cause uneven force in a single direction and reduce the overall stability of the device.

In view of this, the present invention is proposed.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of the prior art and provide a three-degree-of-freedom high-speed handling manipulator with high strength, good stability and convenient control.

In order to achieve this object, the present invention adopts following technical scheme:

A three-degree-of-freedom high-speed handling manipulator includes a frame, a moving platform, and an actuator connecting the frame and the moving platform. The actuator includes a branch chain and a drive device. The branch chain includes a rotatably installed The active arm on the frame, and the active arm is connected with the output shaft of the driving device; one end is connected with the active arm, and the other end is connected with the driven platform, and the driven arm is configured to have There are at least two degrees of freedom; there are three branch chains, and each branch chain is respectively equipped with a driving device to drive the moving platform to move in three-dimensional space.

Further, the frame includes a fixed bracket, a movable bracket slidably installed on the fixed bracket, and a lead screw drive mechanism that drives the movable bracket to slide relative to the fixed bracket; wherein two branch chains are installed on the fixed bracket, and the other The branch chain is installed on the movable support. The branch chains installed on the movable bracket can be adjusted to be arranged horizontally or vertically according to the needs of the actual working space to obtain a better working space.

Further, the screw drive mechanism includes a screw that is rotatably connected to the fixed bracket at both ends, and a screw drive motor that is arranged at one end of the screw and drives the screw to rotate. The movable bracket cooperates with the screw and is driven by the screw. The bar drives it to slide relative to the fixed bracket. By adjusting the position of the movable bracket, the relative positions of the three branch chains can be changed, so that the whole device is more flexible and achieves a better stress effect.

Further, the three branch chains are respectively the first branch chain, the second branch chain and the third branch chain, the drive device includes the first drive device, the second drive device and the third drive device, the first drive device and the third drive device The active arm of a chain is connected, the second drive device is connected with the active arm of the second branch chain, the third drive device is connected with the active arm of the third branch chain, and the first drive device and the second drive device are installed on a fixed On the bracket, the third driving device is installed on the movable bracket.

Further, the driven arm is a parallelogram mechanism with four connecting rods, and the four connecting rods are connected end-to-end sequentially through a rotating pair, one of the connecting rods is connected to the main arm in rotation, and the other connecting rod opposite to the connecting rod is connected to the moving platform Turn to connect.

Further, the active arms of the first branch chain, the second branch chain, and the third branch chain are respectively arranged on different planes, and the active plane of the active arm of the first branch chain is different from the active arm of the second branch chain. The planes intersect perpendicularly.

Further, the active arms of the first branch chain, the second branch chain, and the third branch chain are respectively arranged on different planes, and the active plane of the active arm of the first branch chain is different from the active arm of the second branch chain. The planes intersect obliquely.

Further, the active arm of the first branch chain and the active arm of the second branch chain are arranged on the same plane or two planes parallel to each other, and the active plane of the active arm of the third branch chain is inclined or perpendicular to this plane .

Further, the active arm of the first branch chain and the active arm of the second branch chain are arranged at the same level, and the active arm of the third branch chain is arranged lower than the active arm of the first branch chain. The three branch chains are arranged in a double-layer layout, which can effectively improve the lateral stiffness of the device and increase the overall stability of the device.

After adopting the technical scheme described in the present invention, bring following beneficial effect:

1. The overall structure of the present invention is simple, and at the same time, it can meet the requirements of high speed and large carrying capacity.

2. Each movable joint of the device of the present invention is a rotary pair, and the movable platform has three degrees of freedom of movement, which avoids unnecessary rotational degrees of freedom and increases the stability of the movable platform.

3. The three branch chains of the present invention are arranged at different positions of the frame, which is beneficial to avoid concentrated stress on the frame and has a good bearing capacity.

4. The third branch chain of the present invention can be arranged in different ways, horizontally or vertically, so as to obtain a better working space.

Description of drawings

Fig. 1: the structural diagram of embodiment one of the present invention;

Figure 2: It is a partial enlarged view of Y in Figure 1;

Fig. 3: the structural diagram of the second embodiment of the present invention;

Fig. 4: the structural diagram of the third embodiment of the present invention;

Figure 5: The structural diagram of Embodiment 4 obtained by the present invention based on the modification and improvement of Embodiment 1;

Figure 6: The structural diagram of Embodiment 4 obtained by changing and improving Embodiment 2 based on the present invention;

Figure 7: The structural diagram of Embodiment 4 obtained by changing and improving Embodiment 3 based on the present invention;

Among them: 1. The first branch chain 2, the second branch chain 3, the third branch chain 4, the frame 5, the drive device 6, the moving platform 7, the screw drive mechanism 8, the main arm 9, the follower arm 41, the fixed Support 42, movable support 51, first driving device 52, second driving device 53, third driving device 71, leading screw 72, leading screw driving motor.

Detailed ways

The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings.

Embodiment one

As shown in Figures 1 and 2, a three-degree-of-freedom high-speed handling manipulator includes a frame 4, a moving platform 6, and an actuator connecting the frame 4 and the moving platform 6. The actuator includes a branch chain and The driving device 5 , the branch chain includes a first branch chain 1 , a second branch chain 2 and a third branch chain 3 . Preferably, the frame 4 includes a fixed bracket 41 , a movable bracket 42 slidably mounted on the fixed bracket 41 , and a lead screw drive mechanism 7 that drives the movable bracket 42 to slide relative to the fixed bracket 41 . The movable bracket 42 is configured to slide up and down along the fixed bracket 41. The screw drive mechanism 7 includes a screw 71 that is rotatably connected to the fixed bracket 41 at both ends, and a screw drive is provided at one end of the screw 71. The motor 72 , the lead screw 71 runs through the movable bracket 42 , and when the lead screw 71 rotates, the movable bracket 42 moves axially along the lead screw 71 . The first branch chain 1 and the second branch chain 2 are installed on a fixed bracket 41 , and the third branch chain 3 is installed on a movable bracket 42 . By adjusting the height of the movable bracket 42, the third branch chain 3 is located in different positions, so that different spatial positions can be utilized, which improves the applicability of the mechanism.

The first branch chain 1, the second branch chain 2, and the third branch chain 3 respectively include a driving arm 8 rotatably installed on the frame 4, and the driving arm 8 is connected with the output shaft of the driving device 5; Connected with the main arm 8, the other end is connected with the driven arm 9 of the movable platform 6, and the driven arm 9 is configured to have at least two degrees of freedom respectively relative to the active arm 8 and the movable platform 6; the movable platform 6 is arranged horizontally , is jointly driven by three branch chains, and moves parallel to the horizontal plane in three-dimensional space.

Specifically, the drive device 5 includes a first drive device 51, a second drive device 52 and a third drive device 53, the first drive device 51 is connected to the active arm 8 of the first branch chain 1, and the second drive device 52 is connected to the active arm 8 of the first branch chain 1. The active arm 8 of the second branch chain 2 is connected, and the third driving device 53 is connected with the active arm 8 of the third branch chain 3, and the first driving device 51 and the second driving device 52 are installed on the fixed bracket 41. The third driving device 53 is installed on the movable support 42 .

The driven arm 9 is a parallelogram mechanism with four connecting rods. The four connecting rods are connected end-to-end sequentially through a rotating pair. One of the connecting rods is connected to the driving arm 8 in rotation, and the other connecting rod opposite to the connecting rod is connected to the moving platform. 6 Turn to connect.

The active arms 8 of the first branch chain 1, the second branch chain 2, and the third branch chain 3 are respectively arranged on different planes, and the active plane of the active arm 8 of the first branch chain 1 is different from that of the second branch chain 2. The active planes of the active arm 8 intersect vertically. Specifically, the active arms 8 of the three branch chains are respectively arranged on three vertical planes, which are longitudinally arranged.

The active arm 8 of the first branch chain 1 and the active arm 8 of the second branch chain 2 are arranged at the same level, and the active arm 8 of the third branch chain 3 is arranged lower than the active arm 8 of the first branch chain 1 , so that the three branch chains are distributed at two different heights, effectively improving the lateral stiffness of the device and increasing the overall stability of the device.

Preferably, the first driving device 51 and the second driving device 52 are respectively arranged on the top of the fixing bracket 41 , and the first branch chain 1 and the second branch chain 2 extend downward from the upper end of the fixing bracket 41 .

Embodiment two

As shown in Figure 3, the difference between this embodiment and Embodiment 1 is that the active plane of the active arm 8 of the first branch chain 1 and the active plane of the active arm 8 of the second branch chain 2 intersect obliquely, by changing the two The included angle of the branch chain can obtain different working spaces and expand the scope of application.

Embodiment three

As shown in Figure 4, the difference between this embodiment and Embodiment 1 is that the active arm 8 of the first branch chain 1 and the active arm 8 of the second branch chain 2 are arranged on the same plane or two planes parallel to each other , the active plane of the active arm 8 of the third branch chain 3 is inclined or perpendicular to the plane.

Embodiment Four

As shown in Fig. 5, Fig. 6 and Fig. 7, on the basis of Embodiment 1 or Embodiment 2 or Embodiment 3, the active arm 8 of the third branch chain 3 is set horizontally, and the activity of the active arm 8 The plane is a horizontal plane and is perpendicular to the active planes of the active arms 8 of the other two branch chains.

It should be noted that, on the basis of the above embodiments, the screw drive mechanism 7 can also be omitted, and the movable bracket 42 and the fixed bracket 41 are integrally structured to form multiple embodiments, which will not be described in detail here.

The above is the embodiment of the present invention, and it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, various modifications and improvements can be made, which should also be regarded as the embodiment of the present invention. protected range.

Claims (9)

1. A three-degree-of-freedom high-speed handling manipulator, comprising, a frame, a moving platform, an actuator connecting the frame and the moving platform, the executing mechanism comprising, a branch chain and a driving device, characterized in that: the branch chain includes , the main arm that is rotatably installed on the frame, and the main arm is connected with the output shaft of the driving device; one end is connected with the main arm, and the other end is connected with the driven platform, and the driven arm is configured to be relatively active The arm and the moving platform have at least two degrees of freedom respectively; the branch chains are three, and each branch chain is equipped with a drive device to drive the moving platform to move in three-dimensional space. 2. The three-degree-of-freedom high-speed handling manipulator according to claim 1, wherein the frame includes a fixed bracket and a movable bracket slidably installed on the fixed bracket, and a device for driving the movable bracket to slide relative to the fixed bracket. Lead screw drive mechanism; two of the branch chains are installed on the fixed bracket, and the other branch chain is installed on the movable bracket. 3. The three-degree-of-freedom high-speed handling manipulator according to claim 2, characterized in that: said lead screw drive mechanism comprises a lead screw whose two ends are rotatably connected to the fixed bracket, which is arranged at one end of the lead screw and drives the lead screw to rotate The leading screw drives the motor, and the movable bracket cooperates with the leading screw, and is driven by the leading screw to slide relative to the fixed bracket. 4. The three-degree-of-freedom high-speed handling manipulator according to claim 2, wherein the three branch chains are respectively the first branch chain, the second branch chain and the third branch chain, and the drive device includes a first drive device, the second driving device and the third driving device, the first driving device is connected with the active arm of the first branch chain, the second driving device is connected with the active arm of the second branch chain, and the third driving device is connected with the active arm of the third branch chain The active arm is connected, the first driving device and the second driving device are installed on the fixed bracket, and the third driving device is installed on the movable bracket. 5. The three-degree-of-freedom high-speed handling manipulator according to any one of claims 1-4, characterized in that: the driven arm is a parallelogram mechanism with four connecting rods, and the four connecting rods are connected end-to-end in turn via a rotating pair, One of the connecting rods is rotatably connected with the main arm, and the other connecting rod opposite to the connecting rod is rotatably connected with the moving platform. 6. The three-degree-of-freedom high-speed handling manipulator according to claim 4, characterized in that: the active arms of the first branch chain, the second branch chain, and the third branch chain are respectively arranged on different planes, and the first The active plane of the active arm of the branch chain perpendicularly intersects the active plane of the active arm of the second branch chain. 7. The three-degree-of-freedom high-speed handling manipulator according to claim 4, characterized in that: the active arms of the first branch chain, the second branch chain, and the third branch chain are respectively arranged on different planes, and the first The active plane of the active arm of the branch chain obliquely intersects the active plane of the active arm of the second branch chain. 8. The three-degree-of-freedom high-speed handling manipulator according to claim 4, characterized in that: the active arm of the first branch chain and the active arm of the second branch chain are arranged on the same plane or two planes parallel to each other, The active plane of the active arm of the third branch is inclined or perpendicular to the plane. 9. The three-degree-of-freedom high-speed handling manipulator according to claim 4, characterized in that: the active arm of the first branch chain and the active arm of the second branch chain are arranged at the same level, and the active arm of the third branch chain The master arm is set lower than the master arm of the first leg.