CN110815170A - Heavy-load hoisting robot based on parallel flexible cable mechanism - Google Patents
Heavy-load hoisting robot based on parallel flexible cable mechanism Download PDFInfo
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- CN110815170A CN110815170A CN201810920688.3A CN201810920688A CN110815170A CN 110815170 A CN110815170 A CN 110815170A CN 201810920688 A CN201810920688 A CN 201810920688A CN 110815170 A CN110815170 A CN 110815170A
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- 239000013598 vector Substances 0.000 claims description 11
- 238000004519 manufacturing process Methods 0.000 abstract description 11
- 238000005457 optimization Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
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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
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
Abstract
The invention belongs to the field of advanced manufacturing and automation, and particularly relates to a heavy-load hoisting robot based on a parallel flexible cable mechanism, which comprises an upper platform, a lower platform and six flexible cables, wherein the upper platform is a fixed platform, the lower platform is a moving platform, and the upper platform and the lower platform are connected by the six flexible cables to form a Stewart type parallel mechanism; each branch flexible cable is connected with the motor winding drum and the upper platform through the fixed pulley and is connected with the lower platform through the cross hinge; an encoder is arranged on the pulley shaft of each branch, and the length change of the flexible cable can be measured; when the centers of the upper platform and the lower platform are on the same plumb line and the robot moving platform naturally droops and balances, the condition of a gravity surface is satisfied between the circumferential radius of the central point of the pulley of the upper platform and the circumferential radius of the connecting point of the lower platform, and the central plane of the pulley, which is vertical to the rotating shaft, of each branch pulley is coplanar with the corresponding gravity surface. The invention fully considers the actual application conditions of the heavy-load automatic operation, and has the advantages of strong load capacity, high operation precision, capability of realizing six-dimensional motion, reasonable optimization of configuration and the like.
Description
Technical Field
The invention belongs to the field of advanced manufacturing and automation, and particularly relates to a heavy-load hoisting robot based on a parallel flexible cable mechanism.
Background
The parallel flexible cable mechanism is one kind of parallel mechanism, and the flexible cable is used to replace the link rod of traditional parallel mechanism, so as to create a new robot mechanism. Different from a parallel connecting rod mechanism, the parallel flexible cable mechanism is simple in structure due to the fact that the flexible cables are adopted in the branches, and a plurality of topological configurations cannot be derived like the former. But also due to the introduction of the wire branches, it is possible to achieve a greater load capacity or a higher movement speed. Meanwhile, the structure is simple, so that the method is easier to implement and higher in reliability, and is more favorable for industrial application. At present, an attempt has been made to apply a parallel flexible cable mechanism to the fields of wind tunnel tests, dock shipment, ruin search and rescue, building transportation and the like.
With the continuous development of manufacturing technology, the need for automation of the manufacturing process is more and more urgent. In the assembly production process of large-scale products such as airplanes and high-speed rails, more and more demands are put forward to the automation operation, automatic transfer between large-scale heavy-load assembly stations is required to be realized, and manual participation is reduced, so that the production efficiency, the product consistency and the production process safety are improved. The traditional gantry crane must be operated manually, and cannot realize automatic operation; meanwhile, the positioning and posture adjustment of the assembly body are difficult, the efficiency is low, and the bottleneck restricting the automation of assembly production is formed.
Disclosure of Invention
The invention aims to provide a heavy-load hoisting robot based on a parallel flexible cable mechanism, aiming at the requirements of heavy-load automatic hoisting equipment in the automatic assembly process of large equipment products. The heavy-load hoisting robot adopts a parallel flexible cable mechanism, not only can hoist heavy load through six flexible cables, but also can adjust the position and the posture of a hoisted object, and complete operation tasks such as station transfer, butt joint, completion and the like; meanwhile, the hoisting robot can be integrated in an assembly line master control system through robot programming, and the full automation of the assembly production process is realized.
The purpose of the invention is realized by the following technical scheme:
the device comprises an upper platform serving as a fixed platform, a lower platform serving as a moving platform and six flexible cables, wherein the six flexible cables are respectively connected between the upper platform and the lower platform to form a Stewart type parallel mechanism; the upper end of each flexible cable is wound on a winding drum driven by a motor to rotate through a fixed pulley arranged on an upper platform, and the lower end of each flexible cable is connected with a cross hinge arranged on a lower platform;
wherein: the upper platform is provided with six fixed pulleys and six motors respectively, the output end of each motor is connected with a winding drum, the lower platform is provided with six cross hinges, the upper end of each flexible cable is wound on one winding drum by one fixed pulley on the upper platform, and the lower end of each flexible cable is connected to one cross hinge;
an encoder for measuring length change of the flexible cable is arranged on a wheel shaft of the fixed pulley;
the axis of each flexible cable always passes through the central point of the cross hinge;
the central point of the fixed pulley connected with each flexible cable is used for representing the position of the connecting point of the flexible cable and the upper platform, and the position is A1、A2、A3、A4、A5、A6Every two connecting points are grouped into three groups, and all the connecting points are distributed along the anticlockwise direction on the circumference; the central point of the cross hinge connected with each flexible cable is used for representing the position of the connecting point of the flexible cables and the lower platform, and the position is B1、B2、B3、B4、B5、B6Every two connecting points are grouped into three groups, and all the connecting points are distributed along the anticlockwise direction on the circumference;
when the circle center of the circle where each connecting point on the upper platform is located and the circle center of the circle where each connecting point on the lower platform is located are on the same plumb line and the lower platform naturally droops to balance, A6A1B1B6、A2A3B3B2And A4A5B5B4The surfaces are coplanar respectively, and the surfaces are plumb and are gravity surfaces;
the central planes of the fixed pulleys in the branches on the upper platform, which are vertical to the rotating shaft, are coplanar with the corresponding gravity planes;
the tangent point of each flexible cable and the round fixed pulley meets the tangent condition, namely the direction vector from the central point of the fixed pulley to the tangent point of the flexible cable and the fixed pulley is vertical to the direction vector of the flexible cable, and the inner product of the two vectors is zero.
The invention has the advantages and positive effects that:
1. a robot with heavy load capability; the conventional industrial robot mainly aims at replacing manual work to realize automatic operation, has limited load capacity and can only reach hundreds of kilograms; the invention fully utilizes the high bearing capacity of the steel wire rope flexible cable, constructs the heavy-load robot with the six flexible cables and the parallel mechanism, and realizes the operation of the ton-level load.
2. Realizing heavy load pose control; the invention adopts the parallel robot mechanism, has the basic functions of the robot, realizes six-dimensional motion control of the operation load, namely three-dimensional movement and three-dimensional rotation, through six flexible cables, realizes the flexible cable tensioning by utilizing the self weight of the load, and meets the force vector closing condition.
3. Through reasonable configuration optimization, the structural stress is reduced to the maximum extent; the practical working condition that the requirement on the change range of the alignment posture of heavy-load operation is small is fully considered, the condition of a gravity surface is met by applying the circumferential radius of the branch connecting point and the direction of the pulley, the load in the robot structure is reduced to the maximum extent, and the minimum stress of key structural components of the robot is realized.
4. The operation precision is high; although the parallel flexible cable robot has many advantages, the actual application is few at present, and one of the important reasons is that the position of the connecting point of the fixed platform end is not easy to obtain accurately, so that the model parameter error in the motion planning is large, and the position inverse solution precision is low; the present invention proposes the following solutions to these problems: (1) the change angle of the flexible cable deviating from the central plane of the pulley is minimized by applying the gravity surface condition, and the condition that the branch error of the parallel mechanism has no cumulative amplification effect on the tail end error of the robot is considered at the same time, so that the connection tangent point can be approximately considered to be in the central plane of the pulley; (2) the encoders are arranged on the branch pulley shafts, and the length variation of the flexible cable can be accurately measured and used as feedback quantity to realize the closed-loop control of the motor on the length of the cable.
5. Realizing the automatic operation of heavy load; the invention adopts the technical mode of the robot, can be easily integrated into the automatic production line of large heavy-load equipment, changes the condition of manual operation and lifting of large heavy-load equipment, and improves the production efficiency and the product consistency.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the connection of the branch cables to the upper platform according to the present invention;
FIG. 3 is a schematic view of the connection of the branch cables to the lower platform according to the present invention;
FIG. 4 is a schematic view showing the distribution positions of the branch cables and the connecting points of the upper and lower platforms according to the present invention;
FIG. 5 is a schematic view of the tangent point of the flexible cable and the pulley of the present invention;
wherein: the device comprises an upper platform 1, a flexible cable 2, a lower platform 3, a winding drum 4, a motor 5, a fixed pulley 6, a cross hinge 7, an encoder 8, a gravity surface 9 and a pulley center surface 10.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the present invention comprises an upper platform 1, a lower platform 3 and six flexible cables 2, wherein the upper platform 1 is a fixed platform, the lower platform 3 is a moving platform, and the upper platform 1 and the lower platform 3 are connected by the six flexible cables 2 to form a Stewart type parallel mechanism; two ends of each flexible cable 2 are respectively connected with the upper platform 1 and the lower platform 3 to form a branch, and the total number of the branches is six isomorphic branches. Six fixed pulleys 6 and six motors 5 are respectively installed on the upper platform 1, the output end of each motor 5 is connected with a winding drum 4, and six cross hinges 7 are installed on the lower platform 3. The upper end of the flexible cable 2 in each branch is wound on a winding drum 4 driven by a motor 5 to rotate through a fixed pulley 6 arranged on the upper platform 1, the lower end of the flexible cable 2 in each branch is connected with a cross hinge 7 arranged on the lower platform 3, the winding drum 4 is driven to rotate through the motor 5, the length of the flexible cable 2 is further adjusted, and the pose control of the lower platform 3 is realized.
As shown in fig. 2, the connection of the wires 2 in each branch to the upper platform 1 is as follows: the flexible cable 2 winds on a winding drum 4 driven by a motor 5 after winding around a fixed pulley 6, and the fixed pulley 6, the motor 5 and the winding drum 4 are all fixed on the upper platform 1; an encoder 8 is arranged on the wheel shaft of the fixed pulley 6 and used for measuring the length change of the flexible cable 2. The corresponding actual connection point, i.e. the tangent point of the flexible cable 2 and the pulley 6, is denoted by C1～C6And (4) marking.
As shown in fig. 3, the connection of the wires 2 in each branch to the lower platform 3 is as follows: the flexible cable 2 is connected with the lower platform 3 through the cross hinge 7, so that the angle change of the flexible cable 2 relative to the lower platform 3 in work can be met, and meanwhile, the axis of the flexible cable 2 is ensured to always pass through the central point of the cross hinge 7.
As shown in fig. 4, the connecting points of the wires 2 and the upper platform 1 in each branch are arranged as follows: the actual connection point of the flexible cable 2 and the upper platform 1 is the tangent point of each flexible cable 2 and each fixed pulley 6, the point changes along with the change of the pose of the robot, and therefore the position of the connection point of the flexible cable 2 and the upper platform 1 is represented by the central point of the fixed pulley 6. Six points are numbered with A1～A6Sequentially marking, every two adjacent connecting points are adjacent, the adjacent two points form a group, A1And A2、A3And A4、A5And A6Three groups of six connecting points are arranged on the circumference (the radius is R)AOn the circumference of the circle) counterclockwise. The connecting points of the flexible cables 2 and the lower platforms 3 in each branch are arranged as follows: the central point of the cross hinge 7 represents the position of the connecting point of the flexible cable 2 and the lower platform 3. Six points are numbered B1～B6The same sequence marks as the upper platform 1, every two adjacent connecting points are adjacent, the adjacent two points form a group, the upper platform 1 is different from the lower platform 3, and the lower platform B is6And B1、B2And B3、B4And B5Three groups, six connecting points of the three groups are on the circumference (the radius is R)BOn the circumference of the circle) in a counterclockwise direction.
As shown in FIG. 1, the wires 2 in each branch are respectively connected to the corresponding connection points C of the upper platform 1 and the lower platform 31B1、C2B2、C3B3、C4B4、C5B5、C6B6。
As shown in FIG. 4, the upper platform 1 represents a connection point circumferential radius RAAnd the circumferential radius R of the connecting point of the lower platform 3BThe following conditions are satisfied: when the circle center of the circle where each connection point on the upper platform 1 is located (namely, the center of the upper platform) and the circle center of the circle where each connection point on the lower platform 3 is located (namely, the center of the lower platform) are on the same vertical line, and the lower platform 3 naturally droops and is balanced, A6A1B1B6、A2A3B3B2And A4A5B5B4The two surfaces are coplanar and vertical, and the two surfaces are called as gravity surfaces 9, so that the stress of the structure is smaller in the operation process.
As shown in FIG. 4, the pulley center plane 10 perpendicular to the rotation axis of the fixed pulley 6 in each branch of the upper platform 1 should be coplanar with the corresponding gravity planes 9, such as the fixed pulley A1And a fixed pulley A6Should the pulley centre plane 10 be coplanar with the gravity plane 9. The reel 4 should be placed as far away from the fixed pulley 6 as possible and the deviation of the direction of the wire 2 from the fixed pulley 6 to the reel 4 from the gravity surface 9 should be as small as possible in order to further reduce the structural forces. In the present embodiment, two reels 4 are respectively arranged in the middle of each long side of the hexagon.
As shown in FIG. 5, the positions of the actual connection points C1-C6 are determined as follows: the tangent point of each flexible cable 2 and the wound fixed pulley 6 meets the tangent condition, namely the direction vector from the central point of the fixed pulley 6 to the tangent point of the flexible cable 2 and the fixed pulley 6 is vertical to the direction vector of the flexible cable 2, and the inner product of the two vectors is zero. For a given lower platform 3 pose of the robot, the central point A of the fixed pulley 6 is respectively solved by inverse kinematics solution of the parallel robotiTo tangent point CiThe direction vector of the flexible cable 2 in the branch and the tangent condition are utilized to obtain the constraint relation
picosζi+qisinζi＝r i＝1～6
Wherein: p is a radical ofiAnd q isiAll the functions are robot pose and structure parameters, r is the pulley groove radius, and the central point A of the pulley 2 can be obtained by solvingiTo tangent point CiIs directed at an angle ζ with the horizontal planei。
The invention fully considers the practical application condition of the heavy-load automatic operation, and the designed heavy-load hoisting robot based on the parallel flexible cable mechanism has the advantages of strong load capacity, high operation precision, capability of realizing six-dimensional motion, reasonable optimization of configuration and the like.
Claims (8)
1. The utility model provides a heavy load hoist and mount robot based on parallelly connected flexible cable mechanism which characterized in that: the device comprises an upper platform (1) serving as a fixed platform, a lower platform (3) serving as a moving platform and six flexible cables (2), wherein the six flexible cables (2) are respectively connected between the upper platform (1) and the lower platform (3) to form a Stewart type parallel mechanism; the upper end of each flexible cable (2) is wound on a winding drum (4) driven to rotate by a motor (5) through a fixed pulley (6) arranged on the upper platform (1), and the lower end of each flexible cable (2) is connected with a cross hinge (7) arranged on the lower platform (3).
2. The heavy-load hoisting robot based on the parallel flexible cable mechanism according to claim 1, characterized in that: install six fixed pulleys (6) and six motor (5) on upper mounting plate (1) respectively, the output of every motor (5) all is connected with reel (4), install six cross hinge (7) down on platform (3), every the upper end of gentle cable (2) is walked around, is convoluteed one by a fixed pulley (6) on upper mounting plate (1) on reel (4), every the lower extreme of gentle cable (2) is connected on a cross hinge (7).
3. The heavy-load hoisting robot based on the parallel flexible cable mechanism according to claim 1 or 2, characterized in that: and an encoder (8) for measuring the length change of the flexible cable (2) is arranged on the wheel shaft of the fixed pulley (6).
4. The heavy-load hoisting robot based on the parallel flexible cable mechanism according to claim 1 or 2, characterized in that: the axis of each flexible cable (2) always passes through the central point of the cross hinge (7).
5. The heavy-load hoisting robot based on the parallel flexible cable mechanism according to claim 1, characterized in that: the central point of a fixed pulley (6) connected with each flexible cable (2) is used for representing the position of the connecting point of the flexible cable (2) and the upper platform (1), and A is respectively1、A2、A3、A4、A5、A6Every two connecting points are grouped into three groups, and all the connecting points are distributed along the anticlockwise direction on the circumference; each of the flexible cables(2) The central point of the connected cross hinge (7) represents the connecting point position of the flexible cable (2) and the lower platform (3), and the central point is B1、B2、B3、B4、B5、B6And every two connecting points are grouped into three groups, and all the connecting points are distributed along the anticlockwise direction on the circumference.
6. The heavy-load hoisting robot based on the parallel flexible cable mechanism according to claim 5, characterized in that: when the circle center of the circle where each connecting point is located on the upper platform (1) and the circle center of the circle where each connecting point is located on the lower platform (3) are on the same vertical line and the lower platform (3) naturally droops and is balanced, A6A1B1B6、A2A3B3B2And A4A5B5B4Are coplanar and vertical to each other, and are gravity surfaces (9).
7. The heavy-load hoisting robot based on the parallel flexible cable mechanism according to claim 6, characterized in that: the pulley center plane (10) of the fixed pulley (6) in each branch of the upper platform (1) vertical to the rotating shaft is coplanar with each corresponding gravity surface (9).
8. The heavy-load hoisting robot based on the parallel flexible cable mechanism according to claim 1, characterized in that: the tangent point of each flexible cable (2) and the wound fixed pulley (6) meets the tangent condition, namely the direction vector from the center point of the fixed pulley (6) to the tangent point of the flexible cable (2) and the fixed pulley (6) is vertical to the direction vector of the flexible cable (2), and the inner product of the two vectors is zero.
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| CN201810920688.3A CN110815170A (en) | 2018-08-14 | 2018-08-14 | Heavy-load hoisting robot based on parallel flexible cable mechanism |
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| CN201810920688.3A CN110815170A (en) | 2018-08-14 | 2018-08-14 | Heavy-load hoisting robot based on parallel flexible cable mechanism |
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Cited By (4)
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| CN110255357A (en) * | 2019-05-31 | 2019-09-20 | 中南大学 | A kind of the lifting anti-sway multifunctional hanging tool of posture adjustment and its control method |
| CN111251278A (en) * | 2020-03-12 | 2020-06-09 | 广东省智行机器人科技有限公司 | Rigid-flexible coupling three-rotation parallel robot |
| CN112172953A (en) * | 2020-09-14 | 2021-01-05 | 华中科技大学 | Wall-climbing robot adsorption cavity position and posture adjusting mechanism and control method |
| CN116729917A (en) * | 2023-05-23 | 2023-09-12 | 南京线控机器人科技有限公司 | Modularized mobile platform and moving method thereof |
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| CN111251278A (en) * | 2020-03-12 | 2020-06-09 | 广东省智行机器人科技有限公司 | Rigid-flexible coupling three-rotation parallel robot |
| CN111251278B (en) * | 2020-03-12 | 2021-06-08 | 广东省智行机器人科技有限公司 | Rigid-flexible coupling three-rotation parallel robot |
| CN112172953A (en) * | 2020-09-14 | 2021-01-05 | 华中科技大学 | Wall-climbing robot adsorption cavity position and posture adjusting mechanism and control method |
| CN112172953B (en) * | 2020-09-14 | 2022-03-18 | 华中科技大学 | Wall-climbing robot adsorption cavity position and posture adjusting mechanism and control method |
| CN116729917A (en) * | 2023-05-23 | 2023-09-12 | 南京线控机器人科技有限公司 | Modularized mobile platform and moving method thereof |
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Application publication date: 20200221 |