CN113359614A - Parallel robot and circular motion track interpolation method thereof - Google Patents
Parallel robot and circular motion track interpolation method thereof Download PDFInfo
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- CN113359614A CN113359614A CN202110760611.6A CN202110760611A CN113359614A CN 113359614 A CN113359614 A CN 113359614A CN 202110760611 A CN202110760611 A CN 202110760611A CN 113359614 A CN113359614 A CN 113359614A
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
- G05B19/4103—Digital interpolation
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- G05B2219/34—Director, elements to supervisory
- G05B2219/34169—Coarse interpolator, path calculator delivers position, speed, acceleration blocks
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Abstract
The invention provides a parallel robot which comprises a first mounting plate, a first servo motor, a swing arm, a first fixing shaft, a connecting rod, a fixing table and a second fixing shaft, wherein the first servo motor is fixed on the lower surface of the first mounting plate at equal intervals, the swing arm is fixed at the output end of the first servo motor, the first fixing shaft is symmetrically fixed at one end of the swing arm, the connecting rod is rotatably connected with the first fixing shaft through a spherical bearing, the fixing table is arranged below the first mounting plate, and the second fixing shaft is symmetrically fixed at the triangle of the fixing table. The three CCD cameras can carry out all-dimensional visual detection on the workpiece, so that the robot can carry out visual detection on the workpiece while carrying out loading and unloading on the workpiece, the working efficiency is greatly improved, the laser positioner can carry out accurate positioning and clamping on the position of the workpiece, the driving clamp can accurately clamp the workpiece, the clamping precision is high, and the laser positioning device is suitable for positioning and clamping of special-shaped workpieces.
Description
Technical Field
The invention relates to the technical field of parallel robots, in particular to a parallel robot and a circular motion track interpolation method thereof.
Background
The Robot (English name: Robot) is an automatic machine, the difference is that the machine has some intelligent abilities similar to human or biology, such as perception ability, planning ability, action ability and coordination ability, and is an automatic machine with high flexibility, the Robot can assist or even replace human to complete dangerous, heavy and complex work, improve the work efficiency and quality, serve human life, and expand the range of activity and ability of the extended human, while the parallel Robot is driven by a plurality of drives to work in parallel at the same time, and can be defined as a movable platform and a fixed platform which are connected through at least two independent motion chains, and the mechanism has two or more degrees of freedom and is a closed-loop mechanism driven in parallel;
the 3-degree-of-freedom parallel mechanism has more types and more complex forms, and generally has the following forms: plane 3-degree-of-freedom parallel mechanisms, such as 3-RRR mechanisms, 3-RPR mechanisms, which have 2 movements and one rotation; the spherical 3-degree-of-freedom parallel mechanism comprises a 3-RRR spherical mechanism and a 3-UPS-1-S spherical mechanism, wherein the axes of all kinematic pairs of the 3-RRR spherical mechanism are converged at one point in space, the point is called the center of the mechanism, the 3-UPS-1-S spherical mechanism takes the center point of S as the center of the mechanism, and the motion of all points on the mechanism is the rotation motion around the point; 3-dimensional pure moving mechanisms, such as a Starlike parallel mechanism, a Tsai parallel mechanism and a DELTA mechanism, have simple kinematics positive and negative solutions, and are widely applied 3-dimensional moving space mechanisms; the spatial 3-degree-of-freedom parallel mechanism, such as a typical 3-RPS mechanism, belongs to an under-rank mechanism, and has the most remarkable characteristic that the motion forms of different points in a working space are different, so that the special motion characteristic prevents the mechanism from being widely applied in practice; the other type is a space mechanism for adding an auxiliary rod piece and a kinematic pair, such as a 3-UPS-1-PU spherical coordinate type 3-degree-of-freedom parallel mechanism adopted by a parallel machine tool developed by the university of Hannover Germany, and due to the restriction of the auxiliary rod piece and the kinematic pair, a motion platform of the mechanism has 1 movement and 2 rotation movements (also can be called as 3 movement movements);
however, the existing three-degree-of-freedom parallel robot only has a moving function when in use, and when moving and blanking are carried out on a workpiece, the workpiece cannot be simultaneously subjected to omnibearing visual detection, so that the working procedures are increased, the working efficiency is reduced, and for an irregular workpiece, the position of the workpiece is calculated only through image acquisition, so that the clamping precision is low, and the workpiece is easy to damage.
Therefore, it is necessary to provide a parallel robot and a circular motion trajectory interpolation method thereof to solve the above technical problems.
Disclosure of Invention
In order to solve the technical problem, the invention provides a parallel robot and a circular motion track interpolation method thereof.
The invention provides a parallel robot, which comprises a first mounting plate, a first servo motor, a swing arm, a first fixed shaft, a connecting rod, a fixed table and a second fixed shaft, wherein the first servo motor is fixed on the lower surface of the first mounting plate at equal intervals, the swing arm is fixed at the output end of the first servo motor, the first fixed shaft is symmetrically fixed at one end of the swing arm, the first fixed shaft is rotatably connected with the connecting rod through a spherical bearing, the fixed table is arranged below the first mounting plate, the second fixed shaft is symmetrically fixed on the triangular surfaces of the fixed table, the second fixed shaft is rotatably connected with the connecting rod through a spherical bearing, a rotating mechanism is fixed in the middle of the first mounting plate and is rotatably connected with the fixed table, a rotating shaft is rotatably connected in the middle of the fixed table through a bearing, a rotating table is fixed at the bottom of the rotating shaft, and a mounting block is fixed at the bottom of the rotating table, the bottom of the mounting block is fixedly provided with a pneumatic clamp, the outer side of the rotary table is fixedly provided with connecting blocks at equal intervals, one end of each connecting block is fixedly provided with a first angle adjusting mechanism, the bottom of the first angle adjusting mechanism is fixedly provided with a second mounting plate, the bottom of the second mounting plate is fixedly provided with a CCD camera, the lower surface of the second mounting plate is symmetrically and fixedly provided with a second angle adjusting mechanism, the movable end of the second angle adjusting mechanism is fixedly provided with a third angle adjusting mechanism, the movable end of the third angle adjusting mechanism is fixedly provided with a laser positioner, and the lower surface of the rotary table is fixedly provided with a driving mechanism;
the first angle adjusting mechanism comprises first fixing plates, first rotating blocks, first worm wheels, second fixing plates and first worms, the first fixing plates are symmetrically fixed to the bottom of the connecting block, the first fixing plates are connected with the first rotating blocks in a rotating mode through bearings, the second mounting plates are fixedly connected with the first rotating blocks, the first worm wheels are fixed to the outer sides of the first rotating blocks, the second fixing plates are symmetrically fixed to the bottom of the connecting block, the middle portions of the second fixing plates are connected with the first worms in a rotating mode through bearings, and the first worms are meshed with the first worm wheels.
Preferably, actuating mechanism includes external gear ring, bevel gear ring, driven bevel gear, second servo motor and initiative spur gear, the revolving stage bottom is connected with external gear ring through the bearing rotation, external gear ring bottom is fixed with bevel gear ring, the one end that first worm is close to bevel gear ring is fixed with driven bevel gear, and driven bevel gear is connected with bevel gear ring meshing, the connecting block top is fixed with second servo motor, second servo motor's output passes the connecting block and is fixed with the initiative spur gear, and the initiative spur gear is connected with external gear ring meshing.
Preferably, the second angle adjusting mechanism comprises third fixing plates, second rotating blocks, second worm wheels, fourth fixing plates, second worms and fixing blocks, the third fixing plates are symmetrically fixed at four corners of the lower surface of the second mounting plate, the second rotating blocks are rotatably connected between the two third fixing plates through bearings, the second worm wheels are fixed on the outer sides of the second rotating blocks, the fourth fixing plates are symmetrically fixed at the upper ends of the two third fixing plates, the second worms are fixed in the middle of the two fourth fixing plates and meshed with the second worm wheels, and the fixing blocks are fixed at the bottoms of the second rotating blocks.
Preferably, the third angle adjusting mechanism comprises a U-shaped plate, a third rotating block, a third worm gear, a fifth fixing plate and a third worm, the U-shaped plate is fixed at the bottom of the fixing block, the inner wall of the U-shaped plate is rotatably connected with the third rotating block through a bearing, the third worm gear is fixed on the outer side of the third rotating block, the fifth fixing plates are symmetrically fixed on the inner wall of the U-shaped plate, the middle parts of the two fifth fixing plates are rotatably connected with the third worm through bearings, the third worm is meshed with the third worm gear, and the bottom of the third rotating block is fixedly connected with the laser positioner.
Preferably, an inner hexagonal knob is fixed at one end of the second worm and one end of the third worm.
Preferably, slewing mechanism includes third servo motor, sleeve pipe and slide bar, the mounting panel middle part is fixed with third servo motor, third servo motor's output passes the mounting panel and articulates through the universal joint has the sleeve pipe, intraductal wall sliding connection has the slide bar, the slide bar bottom is articulated through universal joint and rotating shaft.
Preferably, the inner wall of the sleeve is symmetrically provided with limit grooves, the upper end of the sliding rod is fixed with a limit block, and the limit block is connected with the limit grooves in a sliding manner.
Preferably, a sixth fixing plate is fixed to the lower surface of the connecting block, and one end, close to the driven bevel gear, of the first worm is rotatably connected with the sixth fixing plate through a bearing.
Preferably, the first servo motor, the second servo motor and the third servo motor are all speed reducing motors.
The invention also provides a circular motion track interpolation method of the parallel robot, which is used for the robot of the invention, and comprises the following steps:
s1, setting Pa (X)1，Y1，Z1)、Pb(X2，Y2，Z1、)、Pc(X3，Y3，Z1Respectively, path points on a two-dimensional circular interpolation track are obtained, corresponding poses are known, XOY is set as a plane where a circular arc is located, and because the points Pa, Pb and Pc belong to the XOY plane, the coordinate points are simplified to be Pa (X)1，Y1)、Pb(X2，Y2)、Pc(X3，Y3、)；
S2, setting the speed of the end effector when the end effector moves along the arc track from the point Pa to the point Pc as v, and setting t as the motion time interval of the robot, wherein the arc radius R can be determined by the points Pa, Pb and Pc
S3, total central angle of travel track: w ═ w1+w2+w3Wherein
S4; angular variation in movement time interval t:
therefore, the interpolation coordinate point of the track can be obtained;
total number of interpolations:
if N is not an integer, rounding according to a rounding method;
s5, coordinates of each interpolation point in the path operation are as follows:
compared with the prior art, the parallel robot and the circular motion track interpolation method thereof provided by the invention have the following beneficial effects:
the invention provides a parallel robot and a circular motion track interpolation method thereof:
1. when a workpiece is clamped, people firstly clamp the workpiece through a pneumatic clamp according to the size and the shape of the workpiece, then keep different, the driving flat gear is driven to rotate through the rotation of the second servo motor, the outer gear ring is further driven to rotate, the bevel gear ring drives the three driven bevel gears to rotate, so that the three first worms can be driven to rotate, the first worm gears are driven to rotate, the CCD camera can be driven to overturn, the angle can be adjusted, the CCD camera can be adjusted to be aligned with the angle of the workpiece, the workpiece can be subjected to omnibearing visual detection through the three CCD cameras, a robot can perform visual detection on the workpiece while feeding and discharging the workpiece, and the working efficiency is greatly improved;
2. move pneumatic fixture to the position before the centre gripping directly over the work piece, drive second worm and third worm through the spanner and rotate, and then can drive second commentaries on classics piece and third commentaries on classics piece rotatory in the direction of different angles, thereby adjust the angle of laser locator, make the setpoint of four laser locator adjust to the corner position of work piece, fix a position the work piece position, when carrying out the centre gripping to the work piece next time, it is rotatory through slewing mechanism drive revolving stage, adjust pneumatic fixture and a plurality of laser locator's holistic angle, can carry out accurate location centre gripping to the position of work piece through the laser locator, make drive fixture can be accurate centre gripping to the work piece, the centre gripping precision is higher, be applicable to the location centre gripping of special-shaped workpiece.
Drawings
FIG. 1 is a schematic view of the overall structure provided by the present invention;
FIG. 2 is a schematic view of a connecting block structure provided by the present invention;
FIG. 3 is a schematic structural diagram of a driving mechanism provided in the present invention;
FIG. 4 is a schematic structural diagram of a first recliner mechanism according to the present invention;
FIG. 5 is a second schematic structural view of the first recliner mechanism according to the present invention;
FIG. 6 is a schematic structural view of a second recliner mechanism provided in the present invention;
FIG. 7 is a schematic structural view of a third recliner mechanism provided in the present invention;
FIG. 8 is a schematic structural view of a rotating mechanism provided in the present invention;
FIG. 9 is a view of arc interpolation and arc interpolation;
fig. 10 is a three-dimensional arc interpolation diagram.
Reference numbers in the figures: 1. a first mounting plate; 2. a first servo motor; 3. swinging arms; 4. a first fixed shaft; 5. a rotating mechanism; 51. a third servo motor; 52. a sleeve; 53. a slide bar; 54. a limiting groove; 55. a limiting block; 6. a first angle adjustment mechanism; 61. a first fixing plate; 62. a first rotating block; 63. a first worm gear; 64. a second fixing plate; 65. a first worm; 7. a second angle adjustment mechanism; 71. a third fixing plate; 72. a second rotating block; 73. a second worm gear; 74. a fourth fixing plate; 75. a second worm; 76. a fixed block; 8. a third angle adjustment mechanism; 81. a U-shaped plate; 82. a third rotating block; 83. a third worm gear; 84. a fifth fixing plate; 85. a third worm; 86. a hexagonal socket knob; 9. a drive mechanism; 91. an outer gear ring; 92. a bevel gear ring; 93. a driven bevel gear; 94. a second servo motor; 95. a driving flat gear; 10. a connecting rod; 11. a fixed table; 12. a second fixed shaft; 13. a rotating shaft; 14. a turntable; 15. mounting blocks; 16. a pneumatic clamp; 17. connecting blocks; 18. a second mounting plate; 19. a CCD camera; 20. a laser locator; 21. and a sixth fixing plate.
Detailed Description
The invention is further described with reference to the following figures and embodiments.
Please refer to fig. 1-10, wherein fig. 1 is a schematic diagram of the overall structure provided by the present invention; FIG. 2 is a schematic view of a connecting block structure provided by the present invention; FIG. 3 is a schematic structural diagram of a driving mechanism provided in the present invention; FIG. 4 is a schematic structural diagram of a first recliner mechanism according to the present invention; FIG. 5 is a second schematic structural view of the first recliner mechanism according to the present invention; FIG. 6 is a schematic structural view of a second recliner mechanism provided in the present invention; FIG. 7 is a schematic structural view of a third recliner mechanism provided in the present invention; FIG. 8 is a schematic structural view of a rotating mechanism provided in the present invention; FIG. 9 is a view of arc interpolation and arc interpolation; fig. 10 is a three-dimensional arc interpolation diagram.
In the specific implementation process, as shown in fig. 1, fig. 2 and fig. 3, a parallel robot comprises a first mounting plate 1, a first servo motor 2, a swing arm 3, a first fixing shaft 4, a connecting rod 10, a fixing table 11 and a second fixing shaft 12, wherein the first servo motor 2 is fixed on the first mounting plate 1 at equal intervals on the lower surface, the swing arm 3 is fixed at the output end of the first servo motor 2, the first fixing shaft 4 is symmetrically fixed at one end of the swing arm 3, the first fixing shaft 4 is rotatably connected with the connecting rod 10 through a spherical bearing, the fixing table 11 is arranged below the first mounting plate 1, the second fixing shaft 12 is symmetrically fixed on the triangle of the fixing table 11, the second fixing shaft 12 is rotatably connected with the connecting rod 10 through a spherical bearing, a rotating mechanism 5 is fixed in the middle of the first mounting plate 1, the rotating mechanism 5 is rotatably connected with the fixing table 11, a rotating shaft 13 is rotatably connected in the middle of the fixing table 11 through a bearing, a rotary table 14 is fixed at the bottom of the rotating shaft 13, an installation block 15 is fixed at the bottom of the rotary table 14, a pneumatic clamp 16 is fixed at the bottom of the installation block 15, connection blocks 17 are fixed at the outer side of the rotary table 14 at equal intervals, a first angle adjusting mechanism 6 is fixed at one end of each connection block 17, a second installation plate 18 is fixed at the bottom of each first angle adjusting mechanism 6, a CCD camera 19 is fixed at the bottom of each second installation plate 18, second angle adjusting mechanisms 7 are symmetrically fixed on the lower surface of each second installation plate 18, a third angle adjusting mechanism 8 is fixed at the movable end of each second angle adjusting mechanism 7, a laser positioner 20 is fixed at the movable end of each third angle adjusting mechanism 8, and a driving mechanism 9 is fixed on the lower surface of the rotary table 14;
referring to fig. 4 and 5, the first recliner mechanism 6 includes a first fixing plate 61, a first rotating block 62, a first worm wheel 63, a second fixing plate 64 and a first worm 65, the first fixing plate 61 is symmetrically fixed at the bottom of the connecting block 17, the first rotating block 62 is rotatably connected to the two first fixing plates 61 through bearings, the second mounting plate 18 is fixedly connected to the first rotating block 62, the first worm wheel 63 is fixed at the outer side of the first rotating block 62, the second fixing plate 64 is symmetrically fixed at the bottom of the connecting block 17, the first worm 65 is rotatably connected to the middle of the two second fixing plates 64 through bearings, and the first worm 65 is meshed with the first worm wheel 63;
referring to fig. 2 and 3, the driving mechanism 9 includes an outer gear ring 91, a bevel gear ring 92, a driven bevel gear 93, a second servo motor 94 and a driving flat gear 95, the outer gear ring 91 is rotatably connected to the bottom of the turntable 14 through a bearing, the bevel gear ring 92 is fixed to the bottom of the outer gear ring 91, the driven bevel gear 93 is fixed to one end of the first worm 65 close to the bevel gear ring 92, the driven bevel gear 93 is engaged with the bevel gear ring 92, the second servo motor 94 is fixed to the top of the connecting block 17, the driving flat gear 95 is fixed to the output end of the second servo motor 94 through the connecting block 17, the driving flat gear 95 is engaged with the outer gear ring 91, when a workpiece is clamped, one first clamps the workpiece through the pneumatic clamp 16 according to the size and shape of the workpiece, then keeps different, and the driving flat gear 95 is driven to rotate by the rotation of the second servo motor 94, and then drive external gear ring 91 and rotate for bevel gear ring 92 drives three driven bevel gear 93 and rotates, thereby can drive three first worms 65 and rotate, and the first worm wheel 63 of drive is rotatory, thereby can drive CCD camera 19 upset, angle regulation for CCD camera 19 can adjust to the angle of aiming at the work piece, can carry out omnidirectional visual inspection to the work piece through three CCD camera 19.
Referring to fig. 6, the second recliner mechanism 7 includes a third fixing plate 71, a second rotating block 72, a second worm wheel 73, a fourth fixing plate 74, a second worm 75 and a fixing block 76, third fixing plates 71 are symmetrically fixed at four corners of the lower surface of the second mounting plate 18, a second rotating block 72 is rotatably connected between the two third fixing plates 71 through a bearing, a second worm wheel 73 is fixed on the outer side of the second rotating block 72, fourth fixing plates 74 are symmetrically fixed on the upper ends of the two third fixing plates 71, a second worm 75 is fixed in the middle of the two fourth fixing plates 74, and the second worm 75 is engaged with the second worm wheel 73, a fixed block 76 is fixed at the bottom of the second rotating block 72, the second worm 75 is driven to rotate by a wrench, and then the second worm wheel 73 can be driven to rotate, so that the second rotating block 72 can rotate, and the laser positioner 20 can be driven to adjust the angle in the first direction.
Referring to fig. 7, the third recliner mechanism 8 includes a U-shaped plate 81, a third rotating block 82, a third worm wheel 83, a fifth fixing plate 84 and a third worm 85, a U-shaped plate 81 is fixed at the bottom of the fixed block 76, the inner wall of the U-shaped plate 81 is rotatably connected with a third rotating block 82 through a bearing, a third worm wheel 83 is fixed on the outer side of the third rotating block 82, fifth fixing plates 84 are symmetrically fixed on the inner wall of the U-shaped plate 81, a third worm 85 is rotatably connected in the middle of the two fifth fixing plates 84 through a bearing, and the third worm 85 is meshed with the third worm wheel 83, the bottom of the third rotating block 82 is fixedly connected with the laser positioner 20, an inner hexagonal knob 86 is fixed to one end of the second worm 75 and the third worm 85, and the third worm 85 is rotated by a wrench, and the third worm gear 83 is driven to rotate, so that the third rotating block 82 drives the laser positioner 20 to perform the angle adjustment in the second direction.
Referring to fig. 1 and 8, the rotating mechanism 5 includes a third servo motor 51, a sleeve 52 and a slide rod 53, the third servo motor 51 is fixed in the middle of the mounting plate, an output end of the third servo motor 51 penetrates through the mounting plate and is hinged to the sleeve 52 through a universal joint, the slide rod 53 is connected to the inner wall of the sleeve 52 in a sliding manner, the bottom of the slide rod 53 is hinged to the rotating shaft 13 through the universal joint, a limiting groove 54 is symmetrically formed in the inner wall of the sleeve 52, a limiting block 55 is fixed to the upper end of the slide rod 53, the limiting block 55 is connected to the limiting groove 54 in a sliding manner, the sleeve 52 and the slide rod 53 can be driven to rotate through the rotation of the third servo motor 51 and are matched with the universal joint, so as to realize the transmission of the rotating shaft 13 while extending and retracting, which is a prior art that has been disclosed, and is not described in detail in principle.
Referring to fig. 4, a sixth fixing plate 21 is fixed on the lower surface of the connecting block 17, and one end of the first worm 65 close to the driven bevel gear 93 is rotatably connected with the sixth fixing plate 21 through a bearing, so that the stability of the first worm 65 is improved.
The first servo motor 2, the second servo motor 94 and the third servo motor 51 are all speed reducing motors.
Referring to fig. 1, 9 and 10, the present invention further provides a circular motion trajectory interpolation method for a parallel robot, where the circular motion trajectory interpolation method is used for the robot of the present invention, and includes:
s1, setting Pa (X)1，Y1，Z1)、Pb(X2，Y2，Z1、)、Pc(X3，Y3，Z1Respectively, path points on a two-dimensional circular interpolation track are obtained, corresponding poses are known, XOY is set as a plane where a circular arc is located, and because the points Pa, Pb and Pc belong to the XOY plane, the coordinate points are simplified to be Pa (X)1，Y1)、Pb(X2，Y2)、Pc(X3，Y3、)；
S2, setting the speed of the end effector when the end effector moves along the arc track from the point Pa to the point Pc as v, and setting t as the motion time interval of the robot, wherein the arc radius R can be determined by the points Pa, Pb and Pc
S3, total central angle of travel track:w＝w1+w2+w3wherein:
s4; angular variation in movement time interval t:
therefore, the interpolation coordinate point of the track can be obtained;
total number of interpolations:
if N is not an integer, rounding according to a rounding method;
s5, coordinates of each interpolation point in the path operation are as follows:
as another embodiment of the invention, the invention also provides a track interpolation method of the three-dimensional circular arc,
specifically, the implementation method of the three-dimensional circular interpolation is implemented by the following three steps: converting a three-dimensional circular arc into a two-dimensional circular arc through coordinates, and performing interpolation by using a two-dimensional circular arc interpolation method; secondly, calculating each interpolation coordinate point in the two-dimensional circular arc track; and thirdly, converting the obtained coordinate points into an original coordinate axis system.
As shown in FIG. 10, the non-collinear points P1(X1，Y1，Z1)、P2(X2，Y2，Z2)、P3(X3，Y3，Z3) Respectively are path points in a three-dimensional circular interpolation track, and the center of the circular arc is a point OtRadius R, and the arc intersects the coordinate axis at point A, B, C.
Joining together intersections A, B, C to produce planes ABC, Xt、YtOn a plane ABC, ZtIs in the normal direction outside the plane ABC and makes the center O of the circular arctCoinciding with the origin O of the base coordinate system to construct a circular interpolation coordinate system TtIn this plane, circular interpolation may be performed by using a two-dimensional interpolation method.
The working principle is as follows:
when the device is used, the console is controlled by the first servo motor 2, the swing arm 3 and the connecting rod 10 to move at any position, which is the basic principle of the three-degree-of-freedom parallel robot and is not described again, when a workpiece is clamped, people firstly clamp the workpiece by the pneumatic clamp 16 according to the size and the shape of the workpiece, then keep different, rotate the second servo motor 94 to drive the driving flat gear 95 to rotate, further drive the outer gear ring 91 to rotate, so that the bevel gear ring 92 drives the three driven bevel gears 93 to rotate, further drive the three first worms 65 to rotate, drive the first worm wheel 63 to rotate, further drive the CCD camera 19 to turn over, adjust the angle, so that the CCD camera 19 can be adjusted to the angle aligned with the workpiece, perform omnibearing visual detection on the workpiece by the three CCD cameras 19, then loosen the workpiece, and move the pneumatic clamp 16 to the position right above the workpiece before clamping, the second worm 75 and the third worm 85 are driven to rotate by a wrench, and then the second rotating block 72 and the third rotating block 82 can be driven to rotate in different angles, so that the angles of the laser locators 20 are adjusted, positioning points of the four laser locators 20 are adjusted to the corner positions of a workpiece, the position of the workpiece is positioned, the workpiece is clamped next time, the rotating table 14 is driven to rotate by the rotating mechanism 5, the integral angles of the pneumatic clamp 16 and the laser locators 20 are adjusted, accurate positioning and clamping can be carried out on the position of the workpiece by the laser locators 20, the workpiece can be accurately clamped by the driving clamp, the clamping precision is high, and the special-shaped workpiece positioning and clamping device is suitable for positioning and clamping of special-shaped workpieces.
The circuits and controls involved in the present invention are prior art and will not be described in detail herein.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The parallel robot comprises a first mounting plate (1), a first servo motor (2), a swing arm (3), a first fixed shaft (4), a connecting rod (10), a fixed platform (11) and a second fixed shaft (12), and is characterized in that the first servo motor (2) is fixed on the first mounting plate (1) at the same distance from the lower surface, the swing arm (3) is fixed at the output end of the first servo motor (2), the first fixed shaft (4) is symmetrically fixed at one end of the swing arm (3), the connecting rod (10) is connected with the first fixed shaft (4) through a spherical bearing in a rotating way, the fixed platform (11) is arranged below the first mounting plate (1), the second fixed shaft (12) is symmetrically fixed at the triangular part of the fixed platform (11), the second fixed shaft (12) is rotationally connected with the connecting rod (10) through a spherical bearing, a rotating mechanism (5) is fixed at the middle part of the first mounting plate (1), the rotating mechanism (5) is rotatably connected with the fixed table (11), the middle of the fixed table (11) is rotatably connected with a rotating shaft (13) through a bearing, a rotary table (14) is fixed at the bottom of the rotating shaft (13), an installation block (15) is fixed at the bottom of the rotary table (14), a pneumatic clamp (16) is fixed at the bottom of the installation block (15), connection blocks (17) are fixed at the outer side of the rotary table (14) at equal intervals, a first angle adjusting mechanism (6) is fixed at one end of each connection block (17), a second installation plate (18) is fixed at the bottom of each first angle adjusting mechanism (6), a CCD camera (19) is fixed at the bottom of each second installation plate (18), a second angle adjusting mechanism (7) is symmetrically fixed on the lower surface of each second installation plate (18), a third angle adjusting mechanism (8) is fixed at the movable end of each second angle adjusting mechanism (7), and a laser locator (20) is fixed at the movable end of each third angle adjusting mechanism (8), a driving mechanism (9) is fixed on the lower surface of the rotary table (14);
the first angle adjusting mechanism (6) comprises a first fixing plate (61), a first rotating block (62), a first worm wheel (63), a second fixing plate (64) and a first worm (65), the first fixing plate (61) is symmetrically fixed to the bottom of the connecting block (17), the first rotating block (62) is connected to the two first fixing plates (61) in a rotating mode through bearings, the second mounting plate (18) is fixedly connected with the first rotating block (62), the first worm wheel (63) is fixed to the outer side of the first rotating block (62), the second fixing plate (64) is symmetrically fixed to the bottom of the connecting block (17), the middle of the two second fixing plates (64) is connected with the first worm (65) in a rotating mode through bearings, and the first worm (65) is connected with the first worm wheel (63) in a meshing mode.
2. Parallel robot according to claim 1, characterized in that the drive mechanism (9) comprises an external gear ring (91), a bevel gear ring (92), a driven bevel gear (93), a second servo motor (94) and a driving flat gear (95), the bottom of the turntable (14) is rotationally connected with an outer gear ring (91) through a bearing, the bottom of the outer gear ring (91) is fixed with a bevel gear ring (92), a driven bevel gear (93) is fixed at one end of the first worm (65) close to the bevel gear ring (92), a driven bevel gear (93) is meshed with the bevel gear ring (92), a second servo motor (94) is fixed at the top of the connecting block (17), the output end of the second servo motor (94) penetrates through the connecting block (17) to be fixed with a driving flat gear (95), and the driving flat gear (95) is meshed with the outer gear ring (91) and is connected with the outer gear ring.
3. Parallel robot according to claim 2, characterized in that the second recliner mechanism (7) comprises a third fixed plate (71), a second rotating block (72), a second worm wheel (73), a fourth fixed plate (74), a second worm (75) and a fixed block (76), third fixing plates (71) are symmetrically fixed at four corners of the lower surface of the second mounting plate (18), a second rotating block (72) is rotatably connected between the two third fixing plates (71) through a bearing, a second worm wheel (73) is fixed on the outer side of the second rotating block (72), fourth fixing plates (74) are symmetrically fixed on the upper ends of the two third fixing plates (71), a second worm (75) is fixed in the middle of the two fourth fixing plates (74), and the second worm (75) is meshed with the second worm wheel (73), and a fixed block (76) is fixed at the bottom of the second rotating block (72).
4. The parallel robot according to claim 3, wherein the third angle adjusting mechanism (8) comprises a U-shaped plate (81), a third rotating block (82), a third worm wheel (83), a fifth fixing plate (84) and a third worm (85), the U-shaped plate (81) is fixed at the bottom of the fixing block (76), the third rotating block (82) is rotatably connected to the inner wall of the U-shaped plate (81) through a bearing, the third worm wheel (83) is fixed on the outer side of the third rotating block (82), the fifth fixing plate (84) is symmetrically fixed on the inner wall of the U-shaped plate (81), the third worm (85) is rotatably connected to the middle parts of the two fifth fixing plates (84) through bearings, the third worm (85) is meshed with the third worm wheel (83), and the bottom of the third rotating block (82) is fixedly connected with the laser positioner (20).
5. Parallel robot according to claim 4, characterized in that the second worm (75) and the third worm (85) are fixed with a hexagon socket knob (86) at one end.
6. The parallel robot according to claim 5, characterized in that the rotating mechanism (5) comprises a third servo motor (51), a sleeve (52) and a sliding rod (53), the third servo motor (51) is fixed in the middle of the mounting plate, the output end of the third servo motor (51) penetrates through the mounting plate and is hinged to the sleeve (52) through a universal joint, the sliding rod (53) is connected to the inner wall of the sleeve (52) in a sliding manner, and the bottom of the sliding rod (53) is hinged to the rotating shaft (13) through a universal joint.
7. The parallel robot according to claim 5, wherein the inner wall of the sleeve (52) is symmetrically provided with limiting grooves (54), the upper end of the sliding rod (53) is fixed with a limiting block (55), and the limiting block (55) is connected with the limiting grooves (54) in a sliding manner.
8. The parallel robot as claimed in claim 2, wherein a sixth fixing plate (21) is fixed on the lower surface of the connecting block (17), and one end of the first worm (65) close to the driven bevel gear (93) is rotatably connected with the sixth fixing plate (21) through a bearing.
9. Parallel robot according to claim 6, characterized in that the first servomotor (2), the second servomotor (94) and the third servomotor (51) are each a reduction motor.
10. The parallel robot circular motion track interpolation method according to any one of claims 1 to 9, wherein the circular motion track interpolation method comprises:
s1, setting Pa (X)1，Y1，Z1)、Pb(X2，Y2，Z1)、Pc(X3，Y3，Z1) Respectively, path points on a two-dimensional circular interpolation track are obtained, corresponding poses are known, XOY is set as a plane where a circular arc is located, and because the points Pa, Pb and Pc belong to the XOY plane, the coordinate points are simplified into Pa (X)1，Y1)、Pb(X2，Y2)、Pc(X3，Y3)；
S2, setting the speed of the end effector when the end effector moves along the arc track from the point Pa to the point Pc as v, and setting t as the motion time interval of the robot, wherein the arc radius R can be determined by the points Pa, Pb and Pc
S3, total central angle of travel track: w ═ w1+w2+w3Wherein
S4; angular variation in movement time interval t:
therefore, the interpolation coordinate point of the track can be obtained;
total number of interpolations:
if N is not an integer, rounding according to a rounding method;
s5, coordinates of each interpolation point in the path operation are as follows:
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