CN112549077B - A kinematics analytical equipment for parallelly connected manipulator - Google Patents
A kinematics analytical equipment for parallelly connected manipulator Download PDFInfo
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- CN112549077B CN112549077B CN202011394717.0A CN202011394717A CN112549077B CN 112549077 B CN112549077 B CN 112549077B CN 202011394717 A CN202011394717 A CN 202011394717A CN 112549077 B CN112549077 B CN 112549077B
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- 238000012360 testing method Methods 0.000 claims abstract description 44
- 238000004458 analytical method Methods 0.000 claims abstract description 19
- 238000001514 detection method Methods 0.000 claims abstract description 10
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- 238000000034 method Methods 0.000 abstract description 8
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- 230000001960 triggered effect Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000003014 reinforcing effect Effects 0.000 description 4
- 230000003139 buffering effect Effects 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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Abstract
The invention relates to the technical field of mechanical arm detection, and discloses a kinematics analysis device for a parallel manipulator, which comprises a test frame, wherein three sliding grooves are formed in the outer wall of the test frame, clamping grooves are formed in the left surface and the right surface of the inner part of each sliding groove, the parallel manipulator and a driven device are arranged in the test frame, a detection device is arranged in each sliding groove, and a connecting device is arranged in the test frame. The moving block drives the spring and the rubber plug to move upwards when moving upwards, the rubber plug moves upwards to contact with the impact sensor, so that the impact sensor is triggered, the difference of the three driving arms in the moving process can be observed, the three driving arms are analyzed, the analysis process of the kinematics of the parallel mechanical arm is completed, the three driving arms are simultaneously tested and analyzed, the accuracy degree of the test is ensured, the motion information of the three driving arms can be simultaneously obtained, and a large amount of test time is saved.
Description
Technical Field
The invention relates to the technical field of mechanical arm detection, in particular to a kinematics analysis device for parallel manipulators.
Background
The manipulator can imitate some action functions of human hand and arm, and can be used for grabbing, carrying article or operating automatic operation device of tool according to fixed program. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments. In the modern life, the most advanced technology is in the form of a new moon, and the most important difference between the mechanical arm and the human arm is in flexibility and endurance. That is, the maximum advantage of the manipulator can do the same action repeatedly, and the manipulator never feels tired in the normal condition of the machine! The application of mechanical arms is more and more extensive, and the mechanical arms are high-tech automatic production equipment developed in recent decades, and have the operation accuracy and the ability of completing the operation in the environment. An important branch of industrial robot manipulators.
Most of current manipulators have a plurality of initiative arms and work simultaneously, in order to make and study more advanced manipulator, scientific research staff can study and compare the motion information of a plurality of initiative arms, the analysis of most of current initiative arm kinematics is that the analysis and the contrast carry out after testing every initiative arm alone, but the independent test not only need consume a large amount of time, still appear the inaccurate phenomenon of data easily, so need a device that can carry out the test simultaneously and establish and analyze a plurality of initiative arms urgently.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a kinematic analysis device for a parallel manipulator, which has the advantages of analyzing the motion information of three main driving arms simultaneously and the like, and solves the problem of inaccurate information caused by analyzing the three main driving arms independently.
(II) technical scheme
In order to achieve the purpose of analyzing the motion information of the three driving arms simultaneously, the invention provides the following technical scheme: a kinematics analysis device for a parallel manipulator comprises a testing frame, wherein three sliding grooves are formed in the outer wall of the testing frame, clamping grooves are formed in the left surface and the right surface of the inner part of each sliding groove, a parallel mechanical arm and a driven device are arranged in the testing frame, a detection device is arranged in each sliding groove, a connection device is arranged in the testing frame, each detection device comprises an impact sensor, each impact sensor is arranged at the top of each sliding groove, a moving block is slidably connected in each sliding groove, clamping blocks are fixedly connected on the left surface and the right surface of each moving block, the clamping blocks are slidably connected with the clamping grooves, a spring is fixedly connected at the top of each moving block, a rubber plug is fixedly connected at the top of each spring, each parallel mechanical arm comprises a static platform, and each static platform is arranged on the bottom surface of the inner part of the testing frame, the top of the static platform is fixedly connected with three limit blocks, the middle of the adjacent limit blocks is rotatably connected with a rotating rod, the rotating rod is rotatably sleeved with a driving arm, the top of the static platform is fixedly connected with an electric lifting rod, the lifting end of the electric lifting rod is fixedly connected with a supporting rod, the top of the supporting rod is fixedly connected with a movable platform, the driven device comprises three first fixing rods, the three first fixing rods are fixedly connected on the outer wall of the movable platform, the left end and the right end of each first fixing rod are movably connected with a driven arm, the left end and the right end of each driving arm are fixedly connected with a second fixing rod, the lower end of each driven arm is movably connected with the second fixing rod, the connecting device comprises a threaded rod, the threaded rod is fixedly connected to the front side of the driving arm, and the front end of the threaded rod is fixedly connected with a connecting rod, the utility model discloses a fixed bearing of striking inductor, including threaded rod, movable block, connecting rod, fixed socket, fixed sleeve, every group, the screw thread has cup jointed the thread bush on the threaded rod, the rear side fixedly connected with thread loop bar of movable block, the inside of thread loop bar is hollow structure, connecting rod and thread loop bar sliding connection, fixed socket has fixed cover, every group on the driven arm two go-between of the equal fixedly connected with of opposite face of fixed cover, group the centre of fixed cover is provided with the extension spring, the equal fixedly connected with couple in both ends about the extension spring, the top fixedly connected with rubber slab of striking inductor, the inside top surface fixed connection of rubber slab and spout.
Preferably, the inside of the test frame is a hollow structure, the test frame is in a barrel shape, and the outer wall of the test frame is an arc-shaped surface.
Preferably, the three limiting blocks are fixedly connected to the top of the static platform in a circumferential array mode and are not in contact with each other.
Preferably, three of the first fixing bars are not in contact with each other.
Preferably, the hook and the connecting ring are mutually clamped.
(III) advantageous effects
Compared with the prior art, the invention provides a kinematic analysis device for parallel manipulators, which has the following beneficial effects:
1. the kinematics analysis device for the parallel manipulator can drive the moving block to slide in the sliding groove and drive the clamping block to slide in the clamping groove through the connecting device while the driving arms move, drive the spring and the rubber plug to move upwards when the moving block moves upwards, the rubber plug moves upwards to be contacted with the impact sensor so as to trigger the impact sensor, the impact sensor transmits the speed, time and impact force of the rubber plug in impact to an external computer, so that the difference of the three driving arms in the moving process can be observed, the three driving arms are analyzed, the kinematics analysis process of the parallel manipulator is completed, the three driving arms are simultaneously tested and analyzed, the accuracy of the test is ensured, and the motion information of the three driving arms can be simultaneously obtained, a large amount of test time is saved, and therefore the detection efficiency is improved.
2. This a kinematics analysis device for parallelly connected manipulator, start the electric lift pole through switch-on external power source, the electric lift pole passes through the bracing piece and drives the movable platform and move up and down, drive first dead lever rebound when the movable platform, drive the ascending uplift of master arm through trailing arm and second dead lever during first dead lever rebound, drive first dead lever rebound when the movable platform, drive the master arm rebound through trailing arm and second dead lever during first dead lever rebound, thereby accomplish the movement track of whole arm, the device utilizes a power supply to drive three power arm, thereby the energy saving of the device has been promoted, thereby the energy consumption that has reduced the device accords with energy saving and emission reduction more.
3. This a kinematics analytical equipment for parallel manipulator puts into the inside of screw thread loop bar with the connecting rod for screw thread loop bar and threaded rod butt joint, then couple together screw thread loop bar and threaded rod through rotating the thread bush, can drive the movable block through connecting device and slide in the inside of spout when the master arm removes like this, examine time measuring to the arm like this, be convenient for more installation and dismantlement, saved the time of connecting arm and testing arrangement, thereby the efficiency of test has been promoted.
4. This a kinematics analytical equipment for parallelly connected manipulator, the pulling force that utilizes the extension spring passes through the reinforcing apparatus and strains two trailing arms of every group, prevents that the trailing arm from breaking away from with first dead lever and second dead lever at the removal in-process to promote the stability of the device, reduced the fault rate of the device, ensured the reliable degree of the device in the use.
5. This a kinematics analytical equipment for parallelly connected manipulator, the top fixedly connected with rubber slab of striking inductor, the inside top surface fixed connection of rubber slab and spout, the effect of shock attenuation buffering has been played to the striking inductor to the setting of rubber slab to the effect of buffering protection has been played to test frame, thereby has promoted the device's durability.
6. This a kinematics analytical equipment for parallel manipulator, the top fixedly connected with spring of movable block, the top fixedly connected with rubber buffer of spring, when the rubber buffer contacts with the collision sensor like this, the impact force that the movable block translation rate was brought too fast can be alleviated and absorbed in the setting of spring to the damage of collision sensor to play a guard's effect to the collision sensor, prolonged the live time of collision sensor.
Drawings
FIG. 1 is a schematic diagram of a kinematic analysis apparatus for parallel robots according to the present invention;
FIG. 2 is a schematic diagram of a manipulator structure of a kinematic analysis device for parallel manipulators according to the present invention;
FIG. 3 is an enlarged view of FIG. 2 at A;
FIG. 4 is a schematic diagram of a moving block structure of a kinematic analysis device for a parallel manipulator according to the present invention;
FIG. 5 is an enlarged view of FIG. 3 at B;
fig. 6 is a schematic structural diagram of a collision sensor of a kinematic analysis device for parallel robots according to the present invention.
In the figure: the device comprises a test frame 1, a sliding groove 2, a clamping groove 3, a collision sensor 4, a moving block 5, a clamping block 6, a spring 7, a rubber plug 8, a moving platform 9, a static platform 10, a limiting block 11, an electric lifting rod 12, a supporting rod 13, a first fixing rod 14, a driven arm 15, a rotating rod 16, a driving arm 17, a second fixing rod 18, a threaded rod 19, a connecting rod 20, a threaded sleeve 21, a threaded sleeve rod 22, a fixed sleeve 23, a connecting ring 24, a hook 25, a tension spring 26 and a rubber plate 27.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, the present invention provides a new technical solution: a kinematics analysis device for a parallel manipulator comprises a testing frame 1, the testing frame 1 is of a hollow structure, the testing frame 1 is of a barrel shape, the outer wall of the testing frame 1 is of an arc-shaped surface, three sliding grooves 2 are formed in the outer wall of the testing frame 1, clamping grooves 3 are formed in the left surface and the right surface of each of the three sliding grooves 2, a detection device is arranged in each sliding groove 2 and comprises an impact sensor 4, each impact sensor 4 is of a conventional structure and is not described much, each impact sensor 4 is arranged at the top of each sliding groove 2, a moving block 5 is connected in each sliding groove 2, clamping blocks 6 are fixedly connected to the left surface and the right surface of each moving block 5, each clamping block 6 is connected with each clamping groove 3 in a sliding mode, each clamping block 6 can slide in each clamping groove 3, a spring 7 is fixedly connected to the top of each moving block 5, and a rubber plug 8 is fixedly connected to the top of each spring 7, the number of the detection devices is three, and the three detection devices are respectively arranged in the three sliding chutes 2;
the parallel mechanical arm is arranged inside the test frame 1, the parallel mechanical arm comprises a static platform 10, the static platform 10 is arranged on the bottom surface inside the test frame 1, the top of the static platform 10 is fixedly connected with three limit blocks 11, the three limit blocks 11 are fixedly connected to the top of the static platform 10 in a circumferential array mode, the three limit blocks 11 are not in contact with each other, the middle of each adjacent limit block 11 is rotatably connected with a rotating rod 16, a driving arm 17 is rotatably sleeved on each rotating rod 16, the distance between each rotating rod 16 and the upper surface of the static platform 10 is constant, the driving arm 17 cannot be blocked during rotation, the top of the static platform 10 is fixedly connected with an electric lifting rod 12, the electric lifting rod 12 is of an existing structure, excessive description is not needed, the lifting end of the electric lifting rod 12 is fixedly connected with a support rod 13, the top of the support rod 13 is fixedly connected with a movable platform 9, and a driven device is arranged on the movable platform 9, the driven device comprises three first fixed rods 14, the three first fixed rods 14 are fixedly connected to the outer wall of the movable platform 9, the three first fixed rods 14 are not in contact with each other, the left and right ends of the three first fixed rods 14 are movably connected with driven arms 15, the left and right sides of the driving arm 17 are fixedly connected with second fixed rods 18, the lower end of the driven arm 15 is movably connected with the second fixed rods 18, when the device is used, an external power supply is switched on to start the electric lifting rod 12, the electric lifting rod 12 drives the movable platform 9 to move up and down through the supporting rod 13, when the movable platform 9 drives the first fixed rods 14 to move up, when the first fixed rods 14 move up, the driven arms 15 and the second fixed rods 18 drive the driving arm 17 to lift up, when the movable platform 9 drives the first fixed rods 14 to move down, when the first fixed rods 14 move down, the driven arms 15 and the second fixed rods 18 drive the driving arm 17 to move down, thereby completing the motion trail of the whole mechanical arm;
the front end of the driving arm 17 is provided with a connecting device, the connecting device comprises a threaded rod 19, the threaded rod 19 is fixedly connected to the front side of the driving arm 17, the front end of the threaded rod 19 is fixedly connected with a connecting rod 20, a threaded sleeve 21 is sleeved on the threaded rod 19 in a threaded manner, the number of the connecting devices is three, the three connecting devices are respectively arranged on the front sides of the three driving arms 17, the rear sides of the three moving blocks 5 are respectively and fixedly connected with a threaded sleeve 22, the interior of the threaded sleeve 22 is of a hollow structure, the connecting rod 20 is in sliding connection with the threaded sleeve 22, when the device is used, the connecting rod 20 is placed into the threaded sleeve 22, the threaded sleeve 22 is in butt joint with the threaded rod 19, then the threaded sleeve 22 is connected with the threaded rod 19 by rotating the threaded sleeve 21, so that the moving blocks 5 can be driven to slide in the sliding grooves 2 through the connecting device while the driving arm 17 moves, the driven arms 15 are provided with reinforcing devices, each reinforcing device comprises six fixing sleeves 23, the six fixing sleeves 23 are fixedly sleeved on the six driven arms 15 respectively, two connecting rings 24 are fixedly connected to opposite surfaces of each group of fixing sleeves 23, hooks 25 are clamped on all the connecting rings 24, and a tension spring 26 is fixedly connected between the two hooks 25 of each group, so that the two driven arms 15 of each group are tensioned through the reinforcing devices by the aid of tension of the tension springs 26, and the driven arms 15 are prevented from being separated from the first fixing rods 14 and the second fixing rods 18 in the moving process;
the top fixedly connected with rubber slab 27 of striking inductor 4, the inside top surface fixed connection of rubber slab 27 and spout 2, the effect that the shock attenuation was cushioned has been played to the striking inductor to the setting up of rubber slab 27 to the effect of buffering protection has been played to test frame 1, thereby has promoted the device's durability.
The working principle is as follows:
firstly, placing a parallel mechanical arm into the test frame 1, placing a connecting rod 20 into a threaded sleeve rod 22, enabling the threaded sleeve rod 22 to be in butt joint with a threaded rod 19, and then connecting the threaded sleeve rod 22 with the threaded rod 19 by rotating a threaded sleeve 21;
secondly, starting the electric lifting rod 12 by switching on an external power supply, driving the movable platform 9 to move up and down by the electric lifting rod 12 through the supporting rod 13, driving the first fixing rod 14 to move up by the movable platform 9, driving the driving arm 17 to lift up by the driven arm 15 and the second fixing rod 18 when the first fixing rod 14 moves up, driving the first fixing rod 14 to move down by the movable platform 9, and driving the driving arm 17 to move down by the driven arm 15 and the second fixing rod 18 when the first fixing rod 14 moves down, so that the motion track of the whole mechanical arm is completed;
thirdly, the movable block 5 can be driven to slide in the sliding groove 2 and the clamping block 6 can be driven to slide in the clamping groove 3 through the connecting device while the driving arm 17 moves, when the movable block 5 moves upwards, the spring 7 and the rubber plug 8 are driven to move upwards, the rubber plug 8 moves upwards to be in contact with the impact sensor 4, and therefore the impact sensor 4 is triggered;
fourthly, the impact sensor 4 transmits the speed, time and impact force of the rubber plug 8 during impact to an external computer, so that the difference of the three active arms 17 in the moving process can be observed, the three active arms 17 are analyzed, and the analysis process of the kinematics of the parallel mechanical arm is completed;
although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (2)
1. The utility model provides a kinematics analysis device for parallelly connected manipulator, includes test frame (1), three spout (2), three have been seted up on the outer wall of test frame (1) spout (2) inside left and right sides surface has all seted up draw-in groove (3), its characterized in that: the testing device comprises a testing frame (1), a testing device and a connecting device, wherein parallel mechanical arms and a driven device are arranged in the testing frame (1), the testing frame (1) is of a hollow structure, the testing frame (1) is of a barrel shape, the outer wall of the testing frame (1) is of an arc-shaped surface, the testing device is arranged in a sliding chute (2), and the connecting device is arranged in the testing frame (1);
the detection device comprises an impact sensor (4), the impact sensor (4) is arranged at the top of the sliding groove (2), a moving block (5) is connected inside the sliding groove (2) in a sliding mode, clamping blocks (6) are fixedly connected to the left surface and the right surface of the moving block (5), the clamping blocks (6) are connected with the clamping grooves (3) in a sliding mode, a spring (7) is fixedly connected to the top of the moving block (5), and a rubber plug (8) is fixedly connected to the top of the spring (7);
the parallel mechanical arm comprises a static platform (10), the static platform (10) is arranged on the bottom surface inside the test frame (1), three limit blocks (11) are fixedly connected to the top of the static platform (10), the three limit blocks (11) are fixedly connected to the top of the static platform (10) in a circumferential array mode, the three limit blocks (11) are not in contact with each other, a rotating rod (16) is rotatably connected to the middle of each adjacent limit block (11), an active arm (17) is rotatably sleeved on each rotating rod (16), an electric lifting rod (12) is fixedly connected to the top of the static platform (10), a supporting rod (13) is fixedly connected to the lifting end of each electric lifting rod (12), and a movable platform (9) is fixedly connected to the top of each supporting rod (13);
the driven device comprises three first fixing rods (14), the three first fixing rods (14) are fixedly connected to the outer wall of the movable platform (9), the three first fixing rods (14) are not in contact with each other, the left end and the right end of each first fixing rod (14) are movably connected with a driven arm (15), the left side and the right side of the driving arm (17) are fixedly connected with second fixing rods (18), and the lower end of each driven arm (15) is movably connected with the second fixing rods (18);
the connecting device comprises a threaded rod (19), the threaded rod (19) is fixedly connected to the front side of the driving arm (17), the front end of the threaded rod (19) is fixedly connected with a connecting rod (20), and a threaded sleeve (21) is sleeved on the threaded rod (19) in a threaded manner; the rear side of the moving block (5) is fixedly connected with a threaded sleeve rod (22), the interior of the threaded sleeve rod (22) is of a hollow structure, and the connecting rod (20) is connected with the threaded sleeve rod (22) in a sliding mode;
a fixed sleeve (23) is fixed on the driven arm (15), and two connecting rings (24) are fixedly connected to the opposite surface of each group of fixed sleeves (23);
every group the centre of fixed cover (23) is provided with extension spring (26), equal fixedly connected with couple (25) in both ends about extension spring (26), couple (25) and go-between joint each other.
2. A kinematic analysis device for parallel manipulators according to claim 1, characterized in that: the top fixedly connected with rubber slab (27) of striking inductor (4), rubber slab (27) and the inside top surface fixed connection of spout (2).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011394717.0A CN112549077B (en) | 2020-12-03 | 2020-12-03 | A kinematics analytical equipment for parallelly connected manipulator |
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| CN202011394717.0A CN112549077B (en) | 2020-12-03 | 2020-12-03 | A kinematics analytical equipment for parallelly connected manipulator |
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| CN112549077B true CN112549077B (en) | 2022-02-01 |
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| CN111716346B (en) * | 2019-03-20 | 2021-09-17 | 台达电子工业股份有限公司 | Method and device for correcting tool of mechanical arm |
| CN110007164A (en) * | 2019-03-21 | 2019-07-12 | 岭南师范学院 | A kind of mouse track device for detecting performance based on delta parallel-connection structure |
| CN110587660B (en) * | 2019-09-19 | 2021-05-14 | 中北大学 | Robot performance testing device with large range and high precision |
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Granted publication date: 20220201 |