CN109048858A - Carrying robot hoisting system based on parallel institution - Google Patents
Carrying robot hoisting system based on parallel institution Download PDFInfo
- Publication number
- CN109048858A CN109048858A CN201810949735.7A CN201810949735A CN109048858A CN 109048858 A CN109048858 A CN 109048858A CN 201810949735 A CN201810949735 A CN 201810949735A CN 109048858 A CN109048858 A CN 109048858A
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- China
- Prior art keywords
- lifting
- platform
- fixed platform
- system based
- carrying robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of carrying robot hoisting system based on parallel institution of the present invention, including lifting fixed platform, lifting motion platform and for the driving branch of hinged fixed platform and three groups of circumference uniform distributions of motion platform；The driving branch includes the lower bracket for being hinged on lifting fixed platform, is hinged on the upper bracket of lifting motion platform and is articulated with the electric cylinder actuator of upper and lower bracket；It drives the electric cylinder stretching motion of branch to drive upper bracket rotation, and then is converted to the lifting of lifting platform, realize the lifting to cargo.
Description
Technical field
The present invention relates to Robot Control Technologies and its robot to constitute technical field, specifically, it shows that one kind is based on
The carrying robot hoisting system of parallel institution.
Background technique
Carrying robot is required according to the task schedule of industry spot, automatically walk to specified station, completes picking, goods putting
Etc. a series of Unmanned operations, hoisting system therein, which is robot, is connected platform with field operation task.
Existing carrying robot lifting mechanism is in the majority with link-type, there is a problem that stroke is small, load-carrying is low in practice.
For the occasion of certain big displacements lifting demand, existing scissor-type lifting mechanism is often deposited in since mechanical characteristic is poor
In the problem that motion process is unstable, serious wear, safety are low.
Therefore, it is necessary to provide a kind of carrying robot hoisting system based on parallel institution to solve the above problems.
Summary of the invention
The object of the present invention is to provide a kind of carrying robot hoisting system based on parallel institution, using three groups of electric cylinders
Drive branch the bearing capacity for moving synchronously raising system, and by the coordinated control of each actuator realize system lifting with
A certain range of pitching and inclination；Realize the amplification of moving displacement, using " elbow formula " articulated stand mechanism to guarantee the big of system
Stroke.
Technical solution is as follows:
A kind of carrying robot hoisting system based on parallel institution, including lifting fixed platform, lifting motion platform, Yi Jiyong
In the driving branch of hinged fixed platform and three groups of circumference uniform distributions of motion platform；
The driving branch includes the lower bracket for being hinged on lifting fixed platform, is hinged on the upper of lifting motion platform
Bracket and the electric cylinder actuator for being articulated with upper and lower bracket；The electric cylinder stretching motion of branch is driven to drive upper bracket rotation,
And then the lifting of lifting platform is converted to, realize the lifting to cargo.
Further, hingedly the driving branch of lifting fixed platform and motion platform is driven by servo electric jar.
Further, driving branch is three groups, and the hinge joint circumference uniform distribution with lifting fixed platform, is moved with lifting
The hinge joint circumference uniform distribution of platform.
Further, the upper and lower bracket of the driving branch uses the mechanical structure of " elbow " formula.
Further, the driving branch is connect with lifting motion platform using flexural pivot, uses pin with lifting fixed platform
Axis connection；It drives and is connected between the upper and lower bracket and electric cylinder actuator of branch using pin shaft.
Compared with prior art, the present invention drives the carrying for moving synchronously raising system of branch using several groups electric cylinder
Ability, and by the lifting of the coordinated control of each actuator realization system and a certain range of pitching and roll；Using " elbow formula "
Articulated stand mechanism realizes the amplification of moving displacement, to guarantee the big stroke of system；Carrying robot is realized using parallel institution
Lifting function, it is safe to use.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Specific embodiment
Embodiment:
Referring to Fig. 1, the present embodiment shows a kind of lifting system of carrying robot based on parallel institution, including lifting fixed platform
1, motion platform 3 and the driving branch 2 for hinged fixed platform and three groups of circumference uniform distributions of motion platform are lifted；
Lower bracket 21, the pin shaft that three groups of liftings driving branch 2 is connected in lifting fixed platform 1 including pin shaft are connected to institute
State lower bracket 21 and top flexural pivot be connected to the upper bracket 22 of lifting motion platform 3 and be articulated with the electronic of upper and lower bracket
Cylinder actuator 23.The 23 top pin axis connection of electric cylinder actuator is in the upper bracket 22, and bottom and lower bracket 21, lifting are admittedly
Fixed platform 1 is hinged with pin shaft.The stretching motion of electric cylinder actuator 23 drives upper bracket 22 to rotate, and then is converted to lifting platform
The lifting to cargo is realized in 3 lifting.
The lifting driving branch 2 is driven by servo electric cylinders.
Lifting driving 2 quantity of branch is set as three groups, and the hinge joint circumference uniform distribution with lifting fixed platform 1, with lifting
The hinge joint circumference uniform distribution of motion platform 3.
The electric cylinder actuator 23, the equal pin shaft of the lower bracket 21, which are connected in the lifting fixed platform 1, to be arranged
Support 11.
The 22 end flexural pivot of upper bracket is connected to the rotation sloping platform 31 of 3 lower end surface of the lifting platform setting.
Wherein:
1) using servo electric cylinders as driving unit, it can be achieved that the Accurate Position Control of hoisting system；It is driven by three groups of liftings in parallel
The coordinated movement of various economic factors of dynamic component 2, improves the bearing capacity of system；
2) servo electric cylinders and upper and lower bracket use the connection type of elbow joint structure, reduce the lateral force of electric cylinder, guarantee
It is in two power bar states always with servo electric cylinders, system can carry bigger weight when carrying out lifting movement, and structure is more steady
It is fixed；
3) need to realize the lifting movement of big stroke in view of carrying robot when transporting goods, mechanical aspects pass through elbow formula connecting rod
Mechanism amplification can produce very big platform raising stroke with the thin tail sheep of servo electric cylinders.
Compared with prior art, the present invention uses the carrying for moving synchronously raising system of several groups electric cylinder driving arm
Ability, and by the lifting of the coordinated control of each actuator realization system and a certain range of pitching and roll；Using " elbow formula "
Articulated stand mechanism realizes the amplification of moving displacement, to guarantee the big stroke of system；Carrying robot is realized using parallel institution
Lifting function, it is safe to use.
Above-described is only some embodiments of the present invention.For those of ordinary skill in the art, not
Under the premise of being detached from the invention design, various modifications and improvements can be made, these belong to protection model of the invention
It encloses.
Claims (5)
1. a kind of carrying robot hoisting system based on parallel institution, structure feature are: including lifting fixed platform, lifting
Rise fixed platform, lifting motion platform and the driving branch for hinged fixed platform and three groups of circumference uniform distributions of motion platform
Chain；
The driving branch includes the lower bracket for being hinged on lifting fixed platform, is hinged on the upper of lifting motion platform
Bracket and the electric cylinder actuator for being articulated with upper and lower bracket；The electric cylinder stretching motion of branch is driven to drive upper bracket rotation,
And then the lifting of lifting platform is converted to, realize the lifting to cargo.
2. a kind of carrying robot hoisting system based on parallel institution according to claim 1, it is characterised in that: hinged
The driving branch of lifting fixed platform and motion platform is driven by servo electric jar.
3. a kind of carrying robot hoisting system based on parallel institution according to claim 2, it is characterised in that: driving
Branch is three groups, and the hinge joint circumference uniform distribution with lifting fixed platform, the hinge joint circumference uniform distribution with lifting motion platform.
4. a kind of carrying robot hoisting system based on parallel institution according to claim 3, it is characterised in that: described
Drive the upper and lower bracket of branch using the mechanical structure of " elbow " formula.
5. a kind of carrying robot hoisting system based on parallel institution according to claim 4, it is characterised in that: described
Driving branch is connect with lifting motion platform using flexural pivot, is connect with lifting fixed platform using pin shaft；Drive the upper and lower of branch
It is connected between bracket and electric cylinder actuator using pin shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810949735.7A CN109048858A (en) | 2018-08-20 | 2018-08-20 | Carrying robot hoisting system based on parallel institution |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810949735.7A CN109048858A (en) | 2018-08-20 | 2018-08-20 | Carrying robot hoisting system based on parallel institution |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109048858A true CN109048858A (en) | 2018-12-21 |
Family
ID=64686628
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810949735.7A Pending CN109048858A (en) | 2018-08-20 | 2018-08-20 | Carrying robot hoisting system based on parallel institution |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109048858A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110587659A (en) * | 2019-09-19 | 2019-12-20 | 中北大学 | Large-range high-precision robot performance testing method |
| CN111762727A (en) * | 2020-05-25 | 2020-10-13 | 江苏科技大学 | Yacht pier lifting device |
| CN113858162A (en) * | 2021-11-02 | 2021-12-31 | 北京中电飞华通信有限公司 | Data center inspection robot based on BP neural network |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140208883A1 (en) * | 2013-01-28 | 2014-07-31 | Precision Machinery Research & Development Center | Arm assembly for a parallel robot |
| CN105643606A (en) * | 2016-04-01 | 2016-06-08 | 江苏大学 | Novel three-degree-of-freedom parallel robot |
| CN106625606A (en) * | 2017-01-16 | 2017-05-10 | 安徽工业大学 | Carrying robot at seven degrees of freedom with symmetrically arranged driven arms |
| CN107139163A (en) * | 2017-06-12 | 2017-09-08 | 中国矿业大学 | A kind of parallel institution formula transfer robot |
| CN108393871A (en) * | 2018-04-09 | 2018-08-14 | 清华大学 | High speed high load parallel robot |
-
2018
- 2018-08-20 CN CN201810949735.7A patent/CN109048858A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140208883A1 (en) * | 2013-01-28 | 2014-07-31 | Precision Machinery Research & Development Center | Arm assembly for a parallel robot |
| CN105643606A (en) * | 2016-04-01 | 2016-06-08 | 江苏大学 | Novel three-degree-of-freedom parallel robot |
| CN106625606A (en) * | 2017-01-16 | 2017-05-10 | 安徽工业大学 | Carrying robot at seven degrees of freedom with symmetrically arranged driven arms |
| CN107139163A (en) * | 2017-06-12 | 2017-09-08 | 中国矿业大学 | A kind of parallel institution formula transfer robot |
| CN108393871A (en) * | 2018-04-09 | 2018-08-14 | 清华大学 | High speed high load parallel robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110587659A (en) * | 2019-09-19 | 2019-12-20 | 中北大学 | Large-range high-precision robot performance testing method |
| CN111762727A (en) * | 2020-05-25 | 2020-10-13 | 江苏科技大学 | Yacht pier lifting device |
| CN111762727B (en) * | 2020-05-25 | 2022-05-10 | 江苏科技大学 | Yacht pier lifting device |
| CN113858162A (en) * | 2021-11-02 | 2021-12-31 | 北京中电飞华通信有限公司 | Data center inspection robot based on BP neural network |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181221 |
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| RJ01 | Rejection of invention patent application after publication |