CN113433944A - Parallel robot and track control method thereof - Google Patents
Parallel robot and track control method thereof Download PDFInfo
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- CN113433944A CN113433944A CN202110760593.1A CN202110760593A CN113433944A CN 113433944 A CN113433944 A CN 113433944A CN 202110760593 A CN202110760593 A CN 202110760593A CN 113433944 A CN113433944 A CN 113433944A
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- 238000009434 installation Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention provides a parallel robot which comprises a mounting plate, a mounting shell, first servo motors and swing arms, wherein the mounting shell is fixed on the lower surface of the mounting plate at equal intervals, the first servo motors are fixed on the inner wall of the mounting shell, the output ends of the first servo motors penetrate through the mounting shell to be fixed with the swing arms, first fixed shafts are symmetrically fixed at one ends, far away from the first servo motors, of the swing arms, the two first fixed shafts are rotatably connected with connecting rod mechanisms, the bottoms of the three connecting rod mechanisms are rotatably connected with a fixed table, a rotating mechanism is fixed in the middle of the fixed table, the bottom of the rotating mechanism penetrates through the fixed table to be fixed with an adjusting mechanism, and a first fixed plate is symmetrically fixed at the moving end of the adjusting mechanism. The adjustable fixing table can adjust the initial height of the fixing table so as to be suitable for installation environments with different heights, and the shorter the connecting rod mechanism is, the higher the overall stability is, so that the moving precision of the fixing table is increased so as to be suitable for different use environments, the continuous blanking is realized, the working efficiency is improved, large-size workpieces can be clamped, and the adaptability is higher.
Description
Technical Field
The invention relates to the technical field of parallel robots, in particular to a parallel robot and a track control 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;
in the existing parallel robot, the telescopic stroke of the parallel robot cannot be adjusted, so that the parallel robot cannot be normally installed under the condition that a rack is low, and the longer the connecting rod mechanism is, the larger the movement error of the end part is, and the bearing capacity is reduced, so that the existing parallel robot has poor adaptability;
the existing parallel robot carries out clamping work mostly through a finger cylinder, the clamping and discharging process is long, the working efficiency is low, and parts with large size cannot be clamped.
Therefore, it is necessary to provide a parallel robot and a trajectory control 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 track control method thereof.
The invention provides a parallel robot, which comprises a mounting plate, a mounting shell, a first servo motor and a swing arm, wherein the mounting shell is fixed on the lower surface of the mounting plate at equal intervals, the first servo motor is fixed on the inner wall of the mounting shell, the output end of the first servo motor penetrates through the mounting shell and is fixed with the swing arm, one end of the swing arm, far away from the first servo motor, is symmetrically fixed with a first fixed shaft, two first fixed shafts are rotationally connected with a connecting rod mechanism, the bottoms of the three connecting rod mechanisms are rotationally connected with a fixed table, the middle part of the fixed table is fixed with a rotating mechanism, the bottom of the rotating mechanism penetrates through the fixed table and is fixed with an adjusting mechanism, the rotating end of the adjusting mechanism is symmetrically fixed with a first fixed plate, the middle parts of the two first fixed plates are rotationally connected with a first rotating shaft through a bearing, the middle part of the first rotating shaft is fixed with a rotating block, one end of the rotating block is provided with a finger cylinder, one end of the rotating block, which is far away from the finger cylinder, is provided with a U-shaped clamp, and one side of one first fixing plate is fixed with a driving mechanism;
the connecting rod mechanism comprises a first connecting rod, a first slide rod, a second connecting rod, a second fixed shaft, a first fixed bar, a second fixed bar, a third fixed bar, a second slide rod, a first threaded rod and a second servo motor, wherein one end of the first fixed shaft is rotatably connected with the first connecting rod through a spherical bearing, the middle part of the first connecting rod is arranged in a hollow way, the inner wall of the first connecting rod is slidably connected with the first slide rod, the bottom part of the first slide rod is fixedly provided with the second connecting rod, three corners of the fixed table are symmetrically fixedly provided with the second fixed shaft, the second connecting rod is rotatably connected with the second fixed shaft through the spherical bearing, the lower ends of the two first connecting rods are fixedly provided with the first fixed bar, the upper ends of the two second connecting rods are fixedly provided with the second fixed bar, the lower part of the second fixed bar is provided with the third fixed bar, the two ends of the third fixed bar are symmetrically provided with first sliding holes, and the second connecting rod is slidably connected with the third fixed bar through the first sliding holes, second draw runner has been seted up to second fixed strip both ends symmetry, and the second fixed strip has the second slide bar through second draw runner sliding connection, second slide bar both ends respectively with first fixed strip and third fixed strip fixed connection, first fixed strip and third fixed strip middle part are rotated through the bearing and are connected with first threaded rod, first screw hole has been seted up at second fixed strip middle part, and the second fixed strip passes through first screw hole and first threaded rod threaded connection, first fixed strip top is fixed with second servo motor, and second servo motor's output and first threaded rod fixed connection.
Preferably, rotary mechanism includes first universal joint, telescopic link, third servo motor, second universal joint and second pivot, the mounting panel middle part is rotated through the bearing and is connected with first universal joint, first universal joint bottom mounting has the telescopic link, surface mounting has third servo motor on the mounting panel, and third servo motor's output and first universal joint fixed connection, the telescopic link bottom mounting has the second universal joint, and is fixed with the second pivot bottom the second universal joint, the second pivot is passed through the bearing and is rotated with the fixed station and be connected.
Preferably, the telescopic link includes head rod, second connecting rod, spacing groove and stopper, the first universal joint bottom is fixed with the head rod, the second universal joint top is fixed with the second connecting rod, the head rod middle part is the cavity setting, and second connecting rod and head rod inner wall sliding connection, the spacing groove has been seted up to head rod inner wall symmetry, second connecting rod one end symmetry is fixed with the spacing piece, and stopper and spacing groove sliding connection.
Preferably, adjustment mechanism includes set casing, drive shell, second threaded rod, fourth servo motor, threaded sleeve and slide, second pivot bottom is fixed with the set casing, set casing both ends symmetry is fixed with the drive shell, the drive shell inner wall is connected with the second threaded rod through the bearing rotation, the set casing inner wall is fixed with fourth servo motor, and fourth servo motor is a double-end motor, two outputs of fourth servo motor respectively with two second threaded rod fixed connection, drive shell inner wall sliding connection has threaded sleeve, and threaded sleeve and second threaded rod threaded connection, threaded sleeve bottom is fixed with the slide, and first fixed plate and slide fixed connection.
Preferably, the driving mechanism comprises worm gears, second fixing plates, worms and fifth servo motors, the worm gears are fixed at one ends of the first rotating shafts, the second fixing plates are symmetrically fixed on one sides of the first fixing plates, the worms are rotatably connected to the middle parts of the two second fixing plates through bearings, the worms are meshed with the worm gears, the fifth servo motors are fixed on one sides of the second fixing plates, and the output ends of the fifth servo motors are fixedly connected with the worms.
Preferably, the top of the sliding plate is symmetrically fixed with L-shaped blocks, two sides of the driving shell are symmetrically provided with guide grooves, and one end of each L-shaped block is slidably connected with the guide grooves.
Preferably, swing arm one side symmetry is fixed with the guide rail, two guide rail one side sliding connection has the track slider, track slider one side is fixed with the third fixed axle, third fixed axle one end is rotated through spherical bearing and is connected with the third connecting rod, third fixed strip one side is fixed with the third fixed plate, third fixed plate middle part is fixed with the fourth fixed axle, and the fourth fixed axle passes through spherical bearing and is connected with the third connecting rod rotation.
Preferably, the middle part of the swing arm is provided with a lightening hole.
Preferably, the first servo motor, the second servo motor, the third servo motor, the fourth servo motor and the fifth servo motor are all speed reduction motors.
The invention also comprises a track control method of the parallel robot, which is characterized by comprising the following steps:
1) let Pi (X)0，Y0，Z0) With Pt (X)t，Yt，Zt) The initial point and the end point of the linear running of the robot are respectively set, the robot runs along a linear track at a speed v, and t is the time interval when the robot runs.
2) When the robot runs from point Pi to point Pt, it follows:
space straight line travel distance:
travel distance of end effector in sampling interval t: s ═ v · t
Total number of interpolations:
if the result of N is not an integer, adopting four rounds to the result NRounding by a five-in method;
3) the variation of the robot motion along the X, Y, Z axis is as follows:
the coordinates of each interpolation point in the path operation are shown as follows:
where n is the number of interpolations.
4) And obtaining a corresponding angle value of the interpolated coordinate point through an inverse kinematics operation functional packet, and outputting the corresponding angle value to a robot servo driver.
Compared with the related art, the parallel robot and the track control method thereof provided by the invention have the following beneficial effects:
the invention provides a parallel robot and a track control method thereof:
when the robot is used, the swing arms are driven by the three first servo motors and are matched with the connecting rod mechanisms to realize the movement of any position of the fixed table, so that the finger cylinders move at any position, which is the basic principle of the existing three-degree-of-freedom parallel robot and is not repeated herein, the length can be adjusted by the connecting mechanisms, the initial height of the fixed table can be adjusted, the first threaded rods are driven to rotate by the rotation of the second servo motors, and then the second fixed strips can be driven to move, so that the two second connecting rods can be driven to lift, and the height of the fixed table can be adjusted, so that the mounting environments with different heights can be adapted, and the shorter the connecting rod mechanisms are, the higher the overall stability is, so that the movement precision of the fixed table is increased, and the different using environments can be adapted;
the two finger cylinders on the driving mechanism drive the driving mechanism to rotate through the rotating mechanism, so that the two finger cylinders can be driven to rotate, the driving mechanism is matched to adjust the positions of the finger cylinders, when the first finger cylinder clamps a workpiece to perform blanking, the other finger cylinder moves from a blanking position to one end of the conveying belt to clamp the workpiece, uninterrupted blanking can be realized, and the working efficiency is improved;
rotate through fifth servo motor and drive the worm and rotate, and then drive the worm wheel and rotate, make first pivot drive turning block rotation degree, and then make U-shaped clamp and finger cylinder change the position, when the great work piece of needs centre gripping size, rotate through fourth servo motor and drive the rotation of second threaded rod, and then can drive the threaded sleeve and slide, make the slide be close to each other or keep away from, and then drive the U-shaped clamp and carry out the centre gripping action, realize the centre gripping to the work piece of great size, improve the adaptability.
Drawings
FIG. 1 is a schematic view of an overall structure provided by the present invention;
FIG. 2 is a second schematic view of the overall structure provided by the present invention;
FIG. 3 is a third schematic view of the overall structure provided by the present invention;
FIG. 4 is a schematic view of a third link structure provided in the present invention;
FIG. 5 is a schematic view of an adjustment mechanism provided in the present invention;
FIG. 6 is a schematic structural view of a driving mechanism provided in the present invention;
FIG. 7 is a schematic view of a telescopic rod structure provided in the present invention;
FIG. 8 is a schematic structural view of a linkage mechanism provided in the present invention;
FIG. 9 is a schematic structural diagram of a first servo motor according to the present invention;
FIG. 10 is an enlarged view taken at A in FIG. 3;
fig. 11 is a schematic diagram of spatial line interpolation.
Reference numbers in the figures: 1. mounting a plate; 2. mounting a shell; 3. a first servo motor; 4. swinging arms; 5. a first fixed shaft; 6. a link mechanism; 61. a first link; 62. a first slide bar; 63. a second link; 64. a second fixed shaft; 65. a first fixing strip; 66. a second fixing strip; 67. a third fixing strip; 68. a second slide bar; 69. a first threaded rod; 610. a second servo motor; 7. a rotation mechanism; 71. a first universal joint; 72. a telescopic rod; 721. a first connecting rod; 722. a second connecting rod; 723. a limiting groove; 724. a limiting block; 73. a third servo motor; 74. a second universal joint; 75. a second rotating shaft; 8. an adjustment mechanism; 81. a stationary case; 82. a drive case; 83. a second threaded rod; 84. a fourth servo motor; 85. a threaded sleeve; 86. a slide plate; 9. a drive mechanism; 91. a worm gear; 92. a second fixing plate; 93. a worm; 94. a fifth servo motor; 10. a fixed table; 11. a first fixing plate; 12. a first rotating shaft; 13. rotating the block; 14. a finger cylinder; 15. a U-shaped clamp; 16. an L-shaped block; 17. a guide groove; 18. a guide rail; 19. a track slider; 20. a third fixed shaft; 21. a third link; 22. a third fixing plate; 23. and a fourth fixed shaft.
Detailed Description
The invention is further described with reference to the following figures and embodiments.
Please refer to fig. 1-11, wherein fig. 1 is one of the overall structural diagrams provided by the present invention; FIG. 2 is a second schematic view of the overall structure provided by the present invention; FIG. 3 is a third schematic view of the overall structure provided by the present invention; FIG. 4 is a schematic view of a third link structure provided in the present invention; FIG. 5 is a schematic view of an adjustment mechanism provided in the present invention; FIG. 6 is a schematic structural view of a driving mechanism provided in the present invention; FIG. 7 is a schematic view of a telescopic rod structure provided in the present invention; FIG. 8 is a schematic structural view of a linkage mechanism provided in the present invention; FIG. 9 is a schematic structural diagram of a first servo motor according to the present invention; FIG. 10 is an enlarged view taken at A in FIG. 3; fig. 11 is a schematic diagram of spatial line interpolation.
In the specific implementation process, as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 9 and fig. 10, a parallel robot includes a mounting plate 1, a mounting shell 2, a first servo motor 3 and a swing arm 4, the mounting shell 2 is fixed on the lower surface of the mounting plate 1 at equal intervals, the first servo motor 3 is fixed on the inner wall of the mounting shell 2, the swing arm 4 is fixed on the output end of the first servo motor 3 by penetrating through the mounting shell 2, a lightening hole is formed in the middle of the swing arm 4, first fixed shafts 5 are symmetrically fixed on one end of the swing arm 4 far away from the first servo motor 3, two first fixed shafts 5 are rotationally connected with link mechanisms 6, the bottoms of the three link mechanisms 6 are rotationally connected with a fixed platform 10, a rotating mechanism 7 is fixed in the middle of the fixed platform 10, an adjusting mechanism 8 is fixed on the bottom of the rotating mechanism 7 by penetrating through the fixed platform 10, and first fixed plates 11 are symmetrically fixed on the moving ends of the adjusting mechanism 8, the middle parts of the two first fixing plates 11 are rotatably connected with first rotating shafts 12 through bearings, rotating blocks 13 are fixed in the middle parts of the first rotating shafts 12, finger cylinders 14 are installed at one ends of the rotating blocks 13, U-shaped clamps 15 are installed at the ends, far away from the finger cylinders 14, of the rotating blocks 13, and a driving mechanism 9 is fixed on one side of one first fixing plate 11;
referring to fig. 8, the link mechanism 6 includes a first link 61, a first sliding rod 62, a second link 63, a second fixed shaft 64, a first fixed bar 65, a second fixed bar 66, a third fixed bar 67, a second sliding rod 68, a first threaded rod 69 and a second servo motor 610, one end of the first fixed shaft 5 is rotatably connected with the first link 61 through a spherical bearing, the middle portion of the first link 61 is hollow, the inner wall of the first link 61 is slidably connected with the first sliding rod 62, the bottom of the first sliding rod 62 is fixed with the second link 63, three corners of the fixed table 10 are symmetrically fixed with the second fixed shaft 64, the second link 63 is rotatably connected with the second fixed shaft 64 through a spherical bearing, the lower ends of the two first links 61 are fixed with the first fixed bar 65, the upper ends of the two second links 63 are fixed with the second fixed bar 66, the third fixed bar 67 is arranged below the second fixed bar 66, the two ends of the third fixing strip 67 are symmetrically provided with first sliding holes, the second connecting rod 63 is slidably connected with the third fixing strip 67 through the first sliding holes, the two ends of the second fixing strip 66 are symmetrically provided with second sliding holes, the second fixing strip 66 is slidably connected with a second sliding rod 68 through the second sliding holes, the two ends of the second sliding rod 68 are respectively fixedly connected with the first fixing strip 65 and the third fixing strip 67, the middle parts of the first fixing strip 65 and the third fixing strip 67 are rotatably connected with a first threaded rod 69 through bearings, the middle part of the second fixing strip 66 is provided with a first threaded hole, the second fixing strip 66 is in threaded connection with the first threaded rod 69 through the first threaded hole, the top of the first fixing strip 65 is fixedly provided with a second servo motor 610, the output end of the second servo motor 610 is fixedly connected with the first threaded rod 69, the length can be adjusted through a connecting mechanism, and therefore the initial height of the fixing table 10 can be adjusted, rotate through second servo motor 610 and drive first threaded rod 69 and rotate, and then can drive second fixed strip 66 and remove to can drive two second connecting rods 63 and go up and down, adjust the height of fixed station 10, so that adapt to the installation environment of co-altitude not, and because link mechanism 6 is shorter more, then overall stability is higher, and consequently the removal precision of fixed station 10 increases, so that adapt to different service environment.
Referring to fig. 2, 3 and 7, the rotating mechanism 7 includes a first universal joint 71, an expansion link 72, a third servo motor 73, a second universal joint 74 and a second rotating shaft 75, the middle portion of the mounting plate 1 is rotatably connected with the first universal joint 71 through a bearing, the expansion link 72 is fixed at the bottom of the first universal joint 71, the third servo motor 73 is fixed on the upper surface of the mounting plate 1, the output end of the third servo motor 73 is fixedly connected with the first universal joint 71, the second universal joint 74 is fixed at the bottom of the expansion link 72, the second rotating shaft 75 is fixed at the bottom of the second universal joint 74, and the second rotating shaft 75 is rotatably connected with the fixed station 10 through a bearing;
the telescopic rod 72 comprises a first connecting rod 721, a second connecting rod 722, a limiting groove 723 and a limiting block 724, the bottom of the first universal joint 71 is fixedly provided with the first connecting rod 721, the top of the second universal joint 74 is fixedly provided with the second connecting rod 722, the middle part of the first connecting rod 721 is hollow, the second connecting rod 722 is in sliding connection with the inner wall 721 of the first connecting rod, the inner wall of the first connecting rod 721 is symmetrically provided with the limiting groove 723, one end of the second connecting rod 722 is symmetrically fixedly provided with the limiting block 724, and the limiting block 724 is in sliding connection with the limiting groove 723;
the third servo motor 73 drives the telescopic rod 72 to rotate, so as to drive the driving shell 82 to rotate, and the fixed platform 10 can be driven by different shafts of the second rotating shaft 75 when lifted through the first universal joint 71 and the second universal joint 74.
Referring to fig. 5 and 6, the adjusting mechanism 8 includes a fixing shell 81, a driving shell 82, a second threaded rod 83, a fourth servo motor 84, a threaded sleeve 85 and a sliding plate 86, the fixing shell 81 is fixed at the bottom of the second rotating shaft 75, the driving shell 82 is symmetrically fixed at two ends of the fixing shell 81, the inner wall of the driving shell 82 is rotatably connected with the second threaded rod 83 through a bearing, the fourth servo motor 84 is fixed on the inner wall of the fixing shell 81, the fourth servo motor 84 is a double-head motor, two output ends of the fourth servo motor 84 are respectively fixedly connected with the two second threaded rods 83, the inner wall of the driving shell 82 is slidably connected with the threaded sleeve 85, the threaded sleeve 85 is in threaded connection with the second threaded rod 83, the sliding plate 86 is fixed at the bottom of the threaded sleeve 85, the first fixing plate 11 is fixedly connected with the sliding plate 86, the second threaded rod 83 is driven to rotate through the fourth servo motor 84, which in turn causes the threaded sleeves 85 to slide so that the slides 86 move toward and away from each other.
Referring to fig. 6, the driving mechanism 9 includes a worm wheel 91, second fixing plates 92, worms 93 and fifth servo motors 94, the worm wheel 91 is fixed at one end of the first rotating shaft 12, the second fixing plates 92 are symmetrically fixed at one side of one of the first fixing plates 11, the worms 93 are rotatably connected to the middle portions of the two second fixing plates 92 through bearings, the worms 93 are meshed with the worm wheel 91, the fifth servo motors 94 are fixed at one side of one of the second fixing plates 92, the output end of the fifth servo motor 94 is fixedly connected to the worms 93, the worm 93 is driven to rotate through the rotation of the fifth servo motor, and the worm wheel 91 is further driven to rotate, so that the first rotating shaft 12 drives the rotating block 13 to rotate 180 degrees, and the position of the clevis 15 and the finger cylinder 14 is further changed.
Referring to fig. 6, the top of the sliding plate 86 is symmetrically fixed with L-shaped blocks 16, two sides of the driving shell 82 are symmetrically provided with guide grooves 17, and one end of each L-shaped block 16 is slidably connected with the guide groove 17, so that the sliding stability of the sliding plate 86 is improved.
Referring to fig. 4, one side of the swing arm 4 is symmetrically fixed with guide rails 18, two one sides of the guide rails 18 are slidably connected with a rail sliding block 19, one side of the rail sliding block 19 is fixed with a third fixing shaft 20, one end of the third fixing shaft 20 is rotatably connected with a third connecting rod 21 through a spherical bearing, one side of the third fixing strip 67 is fixed with a third fixing plate 22, the middle of the third fixing plate 22 is fixed with a fourth fixing shaft 23, and the fourth fixing shaft 23 is rotatably connected with the third connecting rod 21 through a spherical bearing.
The first servo motor 3, the second servo motor 610, the third servo motor 73, the fourth servo motor 84 and the fifth servo motor 94 are all speed reducing motors.
Referring to fig. 1 and 11, the present invention also provides a trajectory control method for a robot, which is used for the robot of the present invention, and the trajectory control method includes:
1) let Pi (X)0，Y0，Z0) With Pt (X)t，Yt，Zt) The initial point and the end point of the linear running of the robot are respectively, the pose information is known, the robot runs along a linear track at a speed v, and t is the time interval of the running of the robot.
2) When the robot runs from point Pi to point Pt, it follows:
space straight line travel distance:
travel distance of end effector in sampling interval t: s ═ v · t
Total number of interpolations:
if the result of N is not an integer, rounding the result N by a rounding method;
3) the variation of the robot motion along the X, Y, Z axis is as follows:
the coordinates of each interpolation point in the path operation are shown as follows:
where n is the number of interpolations.
4) And obtaining a corresponding angle value of the interpolated coordinate point through an inverse kinematics operation functional packet, and outputting the corresponding angle value to a robot servo driver.
The working principle is as follows:
when the robot is used, the swing arm 4 is driven by the three first servo motors 3, the link mechanism 6 is matched, the fixed platform 10 can move at any position, and therefore the finger cylinders 14 can move at any position, which is the basic principle of the existing three-degree-of-freedom parallel robot and is not described herein any more, the length can be adjusted by the connecting mechanism, so that the initial height of the fixed platform 10 can be adjusted, the second servo motor 610 rotates to drive the first threaded rod 69 to rotate, and further the second fixed strip 66 can be driven to move, so that the two second connecting rods 63 can be driven to lift, the height of the fixed platform 10 can be adjusted, so that the mounting environments with different heights can be adapted, and the shorter the link mechanism 6 is, the higher the overall stability is, so that the moving precision of the fixed platform 10 is increased, so that the robot can be adapted to different use environments;
moreover, two finger cylinders 14 on the driving mechanism 9 are provided, the driving mechanism 9 is driven to rotate by the rotating mechanism 7, and then the two finger cylinders 14 can be driven to rotate, and the driving mechanism 9 is matched to adjust the position of the finger cylinders 14, when a first finger cylinder 14 clamps a workpiece for blanking, the other finger cylinder 14 moves from the blanking station to one end of the conveyor belt for clamping the workpiece, uninterrupted blanking can be realized, the working efficiency is improved, the fifth servo motor rotates to drive the worm 93 to rotate, and then the worm wheel 91 rotates, so that the first rotating shaft 12 drives the rotating block 13 to rotate 180 degrees, and further the U-shaped clamp 15 and the finger cylinders 14 are switched, when a workpiece with a larger size needs to be clamped, the fourth servo motor 84 rotates to drive the second threaded rod 83 to rotate, and further the threaded sleeve 85 can be driven to slide, and the sliding plates 86 are close to or far away from each other, and then the U-shaped clamp 15 is driven to clamp, so that a workpiece with a larger size is clamped.
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 mounting plate (1), a mounting shell (2), a first servo motor (3) and a swing arm (4), and is characterized in that the mounting shell (2) is fixed on the mounting plate (1) at equal intervals on the lower surface, the first servo motor (3) is fixed on the inner wall of the mounting shell (2), the swing arm (4) is fixed at the output end of the first servo motor (3) after the output end of the first servo motor (3) penetrates through the mounting shell (2), a first fixed shaft (5) is symmetrically fixed at one end, far away from the first servo motor (3), of the swing arm (4), the first fixed shaft (5) is rotationally connected with a connecting rod mechanism (6), the bottom of the connecting rod mechanism (6) is connected with a fixed platform (10) through rotation, a rotating mechanism (7) is fixed at the middle part of the fixed platform (10), an adjusting mechanism (8) is fixed at the bottom of the rotating mechanism (, first fixing plates (11) are symmetrically fixed at the moving end of the adjusting mechanism (8), the middle parts of the two first fixing plates (11) are rotatably connected with first rotating shafts (12) through bearings, rotating blocks (13) are fixed at the middle parts of the first rotating shafts (12), finger cylinders (14) are installed at one ends of the rotating blocks (13), U-shaped clamps (15) are installed at one ends, far away from the finger cylinders (14), of the rotating blocks (13), and a driving mechanism (9) is fixed on one side of one first fixing plate (11);
the connecting rod mechanism (6) comprises a first connecting rod (61), a first sliding rod (62), a second connecting rod (63), a second fixed shaft (64), a first fixed strip (65), a second fixed strip (66), a third fixed strip (67), a second sliding rod (68), a first threaded rod (69) and a second servo motor (610), one end of the first fixed shaft (5) is rotatably connected with the first connecting rod (61) through a spherical bearing, the middle part of the first connecting rod (61) is arranged in a hollow mode, the inner wall of the first connecting rod (61) is slidably connected with the first sliding rod (62), the bottom of the first sliding rod (62) is fixedly provided with the second connecting rod (63), the second fixed shaft (64) is symmetrically fixed at three corners of the fixed table (10), the second connecting rod (63) is rotatably connected with the second fixed shaft (64) through a spherical bearing, the lower ends of the two first connecting rods (61) are fixedly provided with the first fixed strip (65), a second fixing strip (66) is fixed at the upper ends of the two second connecting rods (63), a third fixing strip (67) is arranged below the second fixing strip (66), first sliding holes are symmetrically formed in the two ends of the third fixing strip (67), the second connecting rod (63) is in sliding connection with the third fixing strip (67) through the first sliding holes, second sliding holes are symmetrically formed in the two ends of the second fixing strip (66), the second fixing strip (66) is in sliding connection with a second sliding rod (68) through the second sliding holes, the two ends of the second sliding rod (68) are respectively in fixed connection with the first fixing strip (65) and the third fixing strip (67), a first threaded rod (69) is rotatably connected between the middle parts of the first fixing strip (65) and the third fixing strip (67) through bearings, a first threaded hole is formed in the middle part of the second fixing strip (66), and the second fixing strip (66) is in threaded connection with the first threaded rod (69) through the first threaded hole, the top of the first fixing strip (65) is fixed with a second servo motor (610), and the output end of the second servo motor (610) is fixedly connected with a first threaded rod (69).
2. The parallel robot of claim 1, wherein the rotating mechanism (7) comprises a first universal joint (71), a telescopic rod (72), a third servo motor (73), a second universal joint (74) and a second rotating shaft (75), the first universal joint (71) is rotatably connected to the middle of the mounting plate (1) through a bearing, the telescopic rod (72) is fixed to the bottom of the first universal joint (71), the third servo motor (73) is fixed to the upper surface of the mounting plate (1), the output end of the third servo motor (73) is fixedly connected with the first universal joint (71), the second universal joint (74) is fixed to the bottom of the telescopic rod (72), the second rotating shaft (75) is fixed to the bottom of the second universal joint (74), and the second rotating shaft (75) is rotatably connected with the fixed table (10) through a bearing.
3. The parallel robot according to claim 2, wherein the telescopic rod (72) comprises a first connecting rod (721), a second connecting rod (722), a limiting groove (723) and a limiting block (724), the first connecting rod (721) is fixed at the bottom of the first universal joint (71), the second connecting rod (722) is fixed at the top of the second universal joint (74), the middle of the first connecting rod (721) is hollow, the second connecting rod (722) is slidably connected with the inner wall of the first connecting rod (721), the limiting groove (723) is symmetrically formed in the inner wall of the first connecting rod (721), the limiting block (724) is symmetrically fixed at one end of the second connecting rod (722), and the limiting block (724) is slidably connected with the limiting groove (723).
4. The parallel robot according to claim 3, characterized in that the adjusting mechanism (8) comprises a fixed shell (81), a driving shell (82), a second threaded rod (83), a fourth servo motor (84), a threaded sleeve (85) and a sliding plate (86), the fixed shell (81) is fixed at the bottom of the second rotating shaft (75), the driving shell (82) is symmetrically fixed at two ends of the fixed shell (81), the second threaded rod (83) is rotatably connected to the inner wall of the driving shell (82) through a bearing, the fourth servo motor (84) is fixed to the inner wall of the fixed shell (81), the fourth servo motor (84) is a double-headed motor, two output ends of the fourth servo motor (84) are respectively and fixedly connected with the two second threaded rods (83), the threaded sleeve (85) is slidably connected to the inner wall of the driving shell (82), and the threaded sleeve (85) is in threaded connection with the second threaded rods (83), the bottom of the threaded sleeve (85) is fixed with a sliding plate (86), and the first fixing plate (11) is fixedly connected with the sliding plate (86).
5. The parallel robot according to claim 4, wherein the driving mechanism (9) comprises a worm wheel (91), second fixing plates (92), a worm (93) and a fifth servo motor (94), the worm wheel (91) is fixed at one end of the first rotating shaft (12), the second fixing plates (92) are symmetrically fixed on one side of one first fixing plate (11), the worm (93) is rotatably connected to the middle parts of the two second fixing plates (92) through bearings, the worm (93) is meshed with the worm wheel (91), the fifth servo motor (94) is fixed on one side of one second fixing plate (92), and the output end of the fifth servo motor (94) is fixedly connected with the worm (93).
6. The parallel robot according to claim 5, wherein L-shaped blocks (16) are symmetrically fixed on the top of the sliding plate (86), guide grooves (17) are symmetrically formed in two sides of the driving shell (82), and one end of each L-shaped block (16) is slidably connected with each guide groove (17).
7. The parallel robot according to claim 1, wherein the swing arm (4) is symmetrically fixed with guide rails (18) at one side, a rail sliding block (19) is slidably connected to one side of each of the two guide rails (18), a third fixing shaft (20) is fixed to one side of the rail sliding block (19), one end of the third fixing shaft (20) is rotatably connected with a third connecting rod (21) through a spherical bearing, a third fixing plate (22) is fixed to one side of the third fixing strip (67), a fourth fixing shaft (23) is fixed to the middle of the third fixing plate (22), and the fourth fixing shaft (23) is rotatably connected with the third connecting rod (21) through a spherical bearing.
8. The parallel robot as claimed in claim 1, wherein the swing arm (4) is provided with a lightening hole in the middle.
9. Parallel robot according to claim 5, characterized in that the first servomotor (3), the second servomotor (610), the third servomotor (73) and the fourth servomotor (84) and the fifth servomotor (94) are each a reduction motor.
10. A trajectory control method of the parallel robot according to any one of claims 1 to 9, characterized by comprising:
1) let Pi (X)0，Y0，Z0) With Pt (X)t，Yt，Zt) The initial point and the end point of the linear running of the robot are respectively, the pose information is known, the robot runs along a linear track at a speed v, and t is the time interval of the running of the robot.
2) When the robot runs from point Pi to point Pt, it follows:
space straight line travel distance:
travel distance of end effector in sampling interval t: s ═ v · t
Total number of interpolations:
if the result of N is not an integer, rounding the result N by a rounding method;
3) the variation of the robot motion along the X, Y, Z axis is as follows:
the coordinates of each interpolation point in the path operation are shown as follows:
where n is the number of interpolations.
4) And obtaining a corresponding angle value of the interpolated coordinate point through an inverse kinematics operation functional packet, and outputting the corresponding angle value to a robot servo driver.
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