CN113433944B - Parallel robot and track control method thereof - Google Patents
Parallel robot and track control method thereof Download PDFInfo
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- CN113433944B CN113433944B CN202110760593.1A CN202110760593A CN113433944B CN 113433944 B CN113433944 B CN 113433944B CN 202110760593 A CN202110760593 A CN 202110760593A CN 113433944 B CN113433944 B CN 113433944B
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- 238000000034 method Methods 0.000 title claims description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 66
- 238000009434 installation Methods 0.000 claims abstract description 8
- 239000012636 effector Substances 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 12
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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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, a first servo motor and swing arms, 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 swing arms are fixed at the output ends of the first servo motor through the mounting shell, first fixed shafts are symmetrically fixed at one ends of the swing arms, which are far away from the first servo motor, of the swing arms, the two first fixed shafts are rotationally connected with connecting rod mechanisms, the bottoms of the three connecting rod mechanisms are rotationally connected with a fixed table, a rotating mechanism is fixed in the middle of the fixed table, an adjusting mechanism is fixed at the bottom of the rotating mechanism through the fixed table, and first fixed plates are symmetrically fixed at the moving ends of the adjusting mechanism. The invention can adjust the initial height of the fixed table so as to adapt to 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 fixed table is increased so as to adapt to different use environments, and the invention can continuously feed, improve the working efficiency, clamp large-size workpieces and has higher adaptability.
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
Robots (english: robots) are automated machines, with the difference that they have some intelligent capabilities similar to humans or living things, such as perceptive, planning, actuating and collaborative capabilities, and are highly flexible, which can assist or even replace humans in accomplishing dangerous, heavy, complex tasks, improving the quality of work efficiency, serving the human lives, expanding the range of activities and capabilities of extended humans, while parallel robots are operated in parallel by multiple drives, which can be defined as a closed loop mechanism where a moving platform and a stationary platform are connected by at least two independent motion chains, the mechanism has two or more degrees of freedom, and is driven in parallel;
in the existing parallel robot, the telescopic stroke cannot be adjusted, so that the existing parallel robot cannot be normally installed under the condition that the frame 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 is poor in adaptability;
the existing parallel robot is used for clamping through a finger cylinder, the clamping and discharging processes are long, the working efficiency is low, and parts with large volumes cannot be clamped.
Therefore, it is necessary to provide a parallel robot and a trajectory control method thereof to solve the above-mentioned problems.
Disclosure of Invention
In order to solve the technical problems, 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, 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 swing arms are fixed at the output ends of the first servo motors through the mounting shell, first fixed shafts are symmetrically fixed at one ends of the swing arms, which are far away from the first servo motors, of the swing arms, connecting rod mechanisms are rotatably connected with fixing tables at the bottoms of the three first fixed shafts, rotating mechanisms are fixed at the middle parts of the fixing tables, adjusting mechanisms are fixed at the bottoms of the rotating mechanisms through the fixing tables, first fixed plates are symmetrically fixed at the moving ends of the adjusting mechanisms, first rotating shafts are rotatably connected at the middle parts of the two first fixed plates through bearings, rotating blocks are fixed at the middle parts of the first rotating shafts, finger cylinders are installed at one ends of the rotating blocks, U-shaped clamps are installed at one ends of the rotating blocks, which are far away from the finger cylinders, and driving mechanisms are fixed at one side of the first fixed plates;
the connecting rod mechanism comprises a first connecting rod, a first sliding rod, a second connecting rod, a second fixed shaft, a first fixed bar, a second fixed bar, a third fixed bar, a second sliding rod, a first threaded rod and a second servo motor, wherein one end of the first fixed shaft is rotationally connected with the first connecting rod through a spherical bearing, the middle part of the first connecting rod is hollow, the inner wall of the first connecting rod is slidably connected with the first sliding rod, the bottom of the first sliding rod is fixedly provided with the second connecting rod, the second connecting rod is rotationally connected with the second fixed shaft through the spherical bearing, two lower ends of the first connecting rod are fixedly provided with the first fixed bar, two upper ends of the second connecting rod are fixedly provided with the second fixed bar, the lower ends of the second fixed bar are provided with the third fixed bar, the two ends of the third fixed bar are symmetrically provided with the first sliding hole, the second fixed bar is symmetrically provided with the second sliding hole through the first sliding hole and the third fixed bar, the second fixed bar is fixedly connected with the second threaded rod through the second sliding hole, the second fixed bar is fixedly connected with the first threaded rod and the second threaded rod through the second threaded rod, the second fixed bar is fixedly connected with the first threaded rod and the middle part of the second fixed bar.
Preferably, the rotary mechanism comprises a first universal joint, a telescopic rod, a third servo motor, a second universal joint and a second rotating shaft, the middle part of the mounting plate is rotationally connected with the first universal joint through a bearing, the bottom of the first universal joint is fixedly provided with the telescopic rod, the upper surface of the mounting plate is fixedly provided with the third servo motor, the output end of the third servo motor is fixedly connected with the first universal joint, the bottom of the telescopic rod is fixedly provided with the second universal joint, the bottom of the second universal joint is fixedly provided with the second rotating shaft, and the second rotating shaft is rotationally connected with the fixed table through the bearing.
Preferably, the telescopic link includes head rod, second connecting rod, spacing groove and stopper, first universal joint bottom is fixed with the head rod, 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 stopper, and stopper and spacing groove sliding connection.
Preferably, the adjustment mechanism comprises a fixed shell, a driving shell, a second threaded rod, a fourth servo motor, a threaded sleeve and a sliding plate, wherein the fixed shell is fixed at the bottom of the second rotating shaft, the driving shell is symmetrically fixed at two ends of the fixed shell, the second threaded rod is rotationally connected to the inner wall of the driving shell through a bearing, the fourth servo motor is fixed on the inner wall of the fixed shell, the fourth servo motor is a double-headed motor, two output ends of the fourth servo motor are respectively fixedly connected with the two second threaded rods, the threaded sleeve is slidably connected to the inner wall of the driving shell, the threaded sleeve is in threaded connection with the second threaded rod, the sliding plate is fixed at the bottom of the threaded sleeve, and the first fixed plate is fixedly connected with the sliding plate.
Preferably, the driving mechanism comprises a worm wheel, a second fixing plate, a worm and a fifth servo motor, wherein one end of the first rotating shaft is fixedly provided with the worm wheel, one side of the first fixing plate is symmetrically fixedly provided with the second fixing plate, the middle parts of the two second fixing plates are rotatably connected with the worm through bearings, the worm is meshed with the worm wheel, one side of the second fixing plate is fixedly provided with the fifth servo motor, and the output end of the fifth servo motor is fixedly connected with the worm.
Preferably, the top of the sliding plate is symmetrically fixed with L-shaped blocks, guide grooves are symmetrically formed in two sides of the driving shell, and one ends of the L-shaped blocks are in sliding connection with the guide grooves.
Preferably, the 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 connected with the third connecting rod through spherical bearing rotation, 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 rotates with the third connecting rod and be connected.
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 one kind of gear motor.
The invention also comprises a track control method of the parallel robot, which is characterized by comprising the following steps:
1) Pi (X) 0 ，Y 0 ，Z 0 ) With Pt (X) t ，Y t ，Z t ) The initial point and the end point of the linear running of the robot are respectively, the robot is set to run along the linear track at the speed v, and t is the time interval when the robot runs.
2) When the robot runs from point Pi to point Pt, it can be derived that:
spatial linear travel distance:
distance of end effector travel 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 adopting a rounding method;
3) The motion variation of the robot along the X, Y, Z axis is shown as:
the coordinates of each interpolation point in the path running are shown in the formula:
where n is the number of interpolations.
4) And obtaining a corresponding angle value from the interpolated coordinate point through an inverse kinematics operation functional packet, and outputting the 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, which comprises the following steps:
when the three-degree-of-freedom parallel robot is used, the swing arm is driven by the three first servo motors to move any position of the fixed table by matching with the connecting rod mechanism, so that a plurality of finger cylinders move any position, the three-degree-of-freedom parallel robot is a basic principle of the existing three-degree-of-freedom parallel robot, the length can be adjusted by the connecting mechanism, the initial height of the fixed table can be adjusted, the first threaded rod is driven to rotate by the rotation of the second servo motor, the second fixed bar can be driven to move, the two second connecting rods can be driven to lift, the height of the fixed table is adjusted, so that the installation environments of different heights can be adapted conveniently, and the shorter the connecting rod mechanism is, the higher the overall stability is, so that the moving precision of the fixed table is increased, and the different use environments can be adapted conveniently;
the two finger cylinders on the driving mechanism are driven to rotate by the rotating mechanism, so that the two finger cylinders can be driven to rotate, the positions of the finger cylinders are adjusted by matching with the driving mechanism, when the first finger cylinder clamps a workpiece to carry out blanking, the other finger cylinder moves from the blanking station to one end of the conveyor belt to clamp the workpiece, uninterrupted blanking can be realized, and the working efficiency is improved;
the worm is driven to rotate through the rotation of the fifth servo motor, the worm wheel is driven to rotate, the first rotating shaft drives the rotating block to rotate, the U-shaped clamp and the finger cylinder are in the position of being changed, when a workpiece with larger clamping size is needed, the second threaded rod is driven to rotate through the rotation of the fourth servo motor, the threaded sleeve can be driven to slide, the sliding plates are enabled to be close to or far away from each other, the U-shaped clamp is driven to clamp, and clamping of the workpiece with larger size is achieved, so that adaptability is improved.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a second schematic diagram of the overall structure of the present invention;
FIG. 3 is a third schematic diagram of the overall structure provided by the present invention;
FIG. 4 is a schematic view of a third connecting rod according to the present invention;
FIG. 5 is a schematic view of an adjusting mechanism according to the present invention;
FIG. 6 is a schematic diagram of a driving mechanism according to the present invention;
FIG. 7 is a schematic view of a telescopic rod according to the present invention;
FIG. 8 is a schematic view of a linkage mechanism according to the present invention;
FIG. 9 is a schematic diagram of a first servo motor according to the present invention;
fig. 10 is an enlarged view of a in fig. 3;
fig. 11 is a schematic diagram of spatial linear interpolation.
Reference numerals in the drawings: 1. a mounting plate; 2. a mounting shell; 3. a first servo motor; 4. swing 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 bar; 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 limit groove; 724. a limiting block; 73. a third servo motor; 74. a second universal joint; 75. a second rotating shaft; 8. an adjusting mechanism; 81. a fixed case; 82. a driving case; 83. a second threaded rod; 84. a fourth servo motor; 85. a threaded sleeve; 86. a slide plate; 9. a driving mechanism; 91. a worm wheel; 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. a rotating 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 will be further described with reference to the drawings and embodiments.
Referring to fig. 1-11 in combination, fig. 1 is a schematic diagram of an overall structure provided by the present invention; FIG. 2 is a second schematic diagram of the overall structure of the present invention; FIG. 3 is a third schematic diagram of the overall structure provided by the present invention; FIG. 4 is a schematic view of a third connecting rod according to the present invention; FIG. 5 is a schematic view of an adjusting mechanism according to the present invention; FIG. 6 is a schematic diagram of a driving mechanism according to the present invention; FIG. 7 is a schematic view of a telescopic rod according to the present invention; FIG. 8 is a schematic view of a linkage mechanism according to the present invention; FIG. 9 is a schematic diagram of a first servo motor according to the present invention; fig. 10 is an enlarged view of a in fig. 3; fig. 11 is a schematic diagram of spatial linear interpolation.
In a specific implementation process, as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 9 and fig. 10, a parallel robot comprises a mounting plate 1, a mounting shell 2, a first servo motor 3 and a swing arm 4, wherein 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 at the output end of the first servo motor 3 through the mounting shell 2, a lightening hole is formed in the middle part of the swing arm 4, a first fixed shaft 5 is symmetrically fixed at one end of the swing arm 4 far away from the first servo motor 3, a connecting rod mechanism 6 is rotatably connected to two first fixed shafts 5, a fixed table 10 is rotatably connected to the bottoms of the three connecting rod mechanisms 6, a rotary mechanism 7 is fixedly arranged at the middle part of the fixed table 10, an adjusting mechanism 8 is fixedly arranged at the bottom of the rotary mechanism 7 through the fixed table 10, a first fixed plate 11 is symmetrically fixed at the movable end of the adjusting mechanism 8, a first fixed plate 12 is rotatably connected to the middle part of the two first fixed plates 11 through a bearing, a rotary shaft 12 is fixedly arranged at the middle part of the first fixed plate 12, a rotary block 13 is fixedly arranged at one end of the rotary block 13 far away from the rotary shaft 14, and a rotary cylinder 14 is fixedly arranged at one side of the rotary shaft 14 is fixedly arranged at one end of the rotary mechanism 14;
referring to fig. 8, the link mechanism 6 includes a first link 61, a first slide bar 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 slide bar 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 part of the first link 61 is hollow, the inner wall of the first link 61 is slidably connected with the first slide bar 62, the bottom of the first slide bar 62 is fixedly provided with the second link 63, three angular symmetry of the fixed table 10 is fixedly provided with the second fixed shaft 64, the second link 63 is rotatably connected with the second fixed shaft 64 through a spherical bearing, two lower ends of the first link 61 are fixedly provided with the first fixed bar 65, two upper ends of the second link 63 are fixedly provided with the second fixed bar 66, the third fixed bar 67 is arranged below the second fixed bar 66, two ends of the third fixed bar 67 are symmetrically provided with a first sliding hole, the second link 67 is rotatably connected with the second threaded rod 66 through the first threaded rod 66 through the second threaded rod 66, the middle part is fixedly connected with the second threaded rod 610 through the first threaded rod 66, the two ends of the second fixed bar 67 are rotatably connected with the second fixed bar 66 through the first threaded rod 67, the first fixed bar 67 through the second fixed bar 67, the two ends are fixedly connected with the first fixed bar 66 through the first threaded rod 67 through the first threaded rod 66 through the first threaded hole 67, the first fixed bar 67, the second fixed bar 67 is fixedly connected with the first threaded rod 66 through the first threaded hole, the second fixed bar 67, the first fixed 67 is fixed 6, the second fixed 6, the first and the second is 6 is. Thereby adjustable fixed station 10's initial height drives first threaded rod 69 through second servo motor 610 rotation and rotates, and then can drive second fixed strip 66 and remove to can drive two second connecting rods 63 and go up and down, adjust fixed station 10's height, in order to adapt to the installation environment of different heights, and because link mechanism 6 is shorter, then overall stability is higher, consequently fixed station 10's movement accuracy increases, in order to adapt to different service environment.
Referring to fig. 2, 3 and 7, the rotation mechanism 7 includes 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 middle part of the mounting plate 1 is rotatably connected with the first universal joint 71 through a bearing, the telescopic rod 72 is fixed at the bottom of the first universal joint 71, the third servo motor 73 is fixed at 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 telescopic rod 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 table 10 through a bearing;
the telescopic rod 72 includes 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 provided on 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;
the telescopic rod 72 is driven to rotate by the third servo motor 73, so that the driving shell 82 can be driven to rotate, and the fixed table 10 can be driven to realize different axes of the second rotating shaft 75 when lifting through the first universal joint 71 and the second universal joint 74.
Referring to fig. 5 and 6, the adjusting mechanism 8 includes a fixed housing 81, a driving housing 82, a second threaded rod 83, a fourth servo motor 84, a threaded sleeve 85 and a sliding plate 86, the fixed housing 81 is fixed at the bottom of the second rotating shaft 75, the driving housing 82 is symmetrically fixed at two ends of the fixed housing 81, the inner wall of the driving housing 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 fixed housing 81, the fourth servo motor 84 is a double-headed motor, two output ends of the fourth servo motor 84 are fixedly connected with the two second threaded rods 83 respectively, the inner wall of the driving housing 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, and the first fixed plate 11 is fixedly connected with the sliding plate 86, the second threaded rod 83 is rotatably driven by the fourth servo motor 84, and the threaded sleeve 85 is further driven to slide, so that the sliding plate 86 is close to or far away from each other.
Referring to fig. 6, the driving mechanism 9 includes a worm gear 91, a second fixing plate 92, a worm 93 and a fifth servo motor 94, one end of the first rotating shaft 12 is fixed with the worm gear 91, one side of the first fixing plate 11 is symmetrically fixed with the second fixing plate 92, two middle parts of the second fixing plates 92 are rotatably connected with the worm 93 through bearings, the worm 93 is engaged with the worm gear 91, one side of the second fixing plate 92 is fixed with the fifth servo motor 94, an output end of the fifth servo motor 94 is fixedly connected with the worm 93, the worm 93 is driven to rotate through rotation of the fifth servo motor, and then the worm gear 91 is driven to rotate, so that the first rotating shaft 12 drives the rotating block 13 to rotate 180 degrees, and then the U-shaped clamp 15 and the finger cylinder 14 are shifted.
Referring to fig. 6, the top of the sliding plate 86 is symmetrically fixed with an L-shaped block 16, two sides of the driving housing 82 are symmetrically provided with guide grooves 17, and one end of the L-shaped block 16 is slidably connected with the guide grooves 17, so as to improve the sliding stability of the sliding plate 86.
Referring to fig. 4, a guide rail 18 is symmetrically fixed on one side of the swing arm 4, two sides of the guide rail 18 are slidably connected with a track slider 19, a third fixing shaft 20 is fixed on one side of the track slider 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 on one side of the third fixing strip 67, a fourth fixing shaft 23 is fixed in 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.
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 one kind of gear motor.
Referring to fig. 1 and 11, the present invention also provides a trajectory control method for a robot according to the present invention, including:
1) Pi (X) 0 ，Y 0 ，Z 0 ) With Pt (X) t ，Y t ，Z t ) The initial point and the end point of the linear motion of the robot are respectively known, the pose information is known, the robot is set to move along the linear track at the speed v, and t is the time interval when the robot operates.
2) When the robot runs from point Pi to point Pt, it can be derived that:
spatial linear travel distance:
distance of end effector travel 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 adopting a rounding method;
3) The motion variation of the robot along the X, Y, Z axis is shown as:
the coordinates of each interpolation point in the path running are shown in the formula:
where n is the number of interpolations.
4) And obtaining a corresponding angle value from the interpolated coordinate point through an inverse kinematics operation functional packet, and outputting the angle value to a robot servo driver.
Working principle:
when the three-degree-of-freedom parallel robot is used, the swing arm 4 is driven by the three first servo motors 3 and is matched with the connecting rod mechanism 6, so that the fixed table 10 can be moved at any position, and a plurality of finger cylinders 14 can be moved at any position, the three-degree-of-freedom parallel robot is a basic principle of the existing three-degree-of-freedom parallel robot, the length can be adjusted through the connecting mechanism, the initial height of the fixed table 10 can be adjusted, the first threaded rod 69 can be driven to rotate through the rotation of the second servo motor 610, the second fixing strip 66 can be driven to move, the two second connecting rods 63 can be driven to lift, the height of the fixed table 10 can be adjusted, so that the installation environments of different heights can be adapted conveniently, and the overall stability is higher as the connecting rod mechanism 6 is shorter, the moving precision of the fixed table 10 is increased, and the fixed table is convenient to adapt to different use environments;
and, finger cylinder 14 on actuating mechanism 9 has two, drive actuating mechanism 9 rotation through rotary mechanism 7, and then can drive two finger cylinders 14 rotation, and cooperate actuating mechanism 9 to adjust the position of finger cylinder 14, when first finger cylinder 14 centre gripping work piece carries out the unloading, another finger cylinder 14 then moves to the one end of conveyer belt from the unloading station and carries out the centre gripping to the work piece, can realize incessant unloading, improve work efficiency, and drive worm 93 rotation through the rotation of fifth servo motor, and then drive worm wheel 91 and rotate, make first pivot 12 drive turning block 13 rotate 180 degrees, and then make U-shaped clamp 15 and finger cylinder 14 change the position, when the work piece that needs the centre gripping size to be great, rotate through fourth servo motor 84 and drive second threaded rod 83 and rotate, and then can drive screw sleeve 85 and slide, make slide 86 be close to each other or keep away from, and then drive U-shaped clamp 15 and carry out the centre gripping action, realize the centre gripping to the work piece of great size.
The circuits and control involved in the present invention are all of the prior art, and are not described in detail herein.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.
Claims (10)
1. The utility model provides a parallel robot, includes mounting panel (1), installation shell (2), first servo motor (3) and swing arm (4), a serial communication port, mounting panel (1) lower surface equidistance is fixed with installation shell (2), installation shell (2) inner wall is fixed with first servo motor (3), the output of first servo motor (3) passes installation shell (2) and is fixed with swing arm (4), the one end symmetry that first servo motor (3) was kept away from to swing arm (4) is fixed with first fixed axle (5), two first fixed axle (5) rotate and are connected with link mechanism (6), three link mechanism (6) bottom is connected with fixed station (10) through the rotation, fixed station (10) middle part is fixed with rotary mechanism (7), rotary mechanism (7) bottom is passed fixed with adjustment mechanism (8) fixed with fixed station (10), the moving end symmetry of adjustment mechanism (8) is fixed with first fixed plate (11), two first fixed plate (11) middle part is connected with first pivot (12) through the bearing rotation, first pivot (12) one end (13) are installed in the fixed cylinder (13), one end of the rotating block (13) far away from the finger cylinder (14) is provided with a U-shaped clamp (15), and one side of the first fixed plate (11) is fixed with a driving mechanism (9);
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 rod (65), a second fixed rod (66), a third fixed rod (67), a second sliding rod (68), a first threaded rod (69) and a second servo motor (610), wherein one end of the first fixed rod (5) is rotationally connected with the first connecting rod (61) through a spherical bearing, the middle part of the first connecting rod (61) is in a hollow arrangement, the inner wall of the first connecting rod (61) is in sliding connection with the first sliding rod (62), the bottom of the first sliding rod (62) is fixedly provided with the second connecting rod (63), three corners of the fixed table (10) are symmetrically fixed with the second fixed shaft (64), the second connecting rod (63) is rotationally connected with the second fixed shaft (64) through the spherical bearing, the lower ends of the first connecting rod (61) are fixedly provided with the first fixed rod (65), the upper ends of the second connecting rod (63) are fixedly provided with the second fixed rod (66), the lower ends of the second fixed rod (66) are symmetrically provided with the third connecting rod (67), the two ends of the second connecting rod (67) are symmetrically provided with the second fixed holes (67), and second fixed strip (66) have second slide bar (68) through second slide hole sliding connection, second slide bar (68) both ends respectively with first fixed strip (65) and third fixed strip (67) fixed connection, first fixed strip (65) and third fixed strip (67) middle part are connected with first threaded rod (69) through the bearing rotation, first screw hole has been seted up at second fixed strip (66) middle part, and second fixed strip (66) are through first screw hole and first threaded rod (69) threaded connection, first fixed strip (65) top is fixed with second servo motor (610), and the output and the first threaded rod (69) fixed connection of second servo motor (610).
2. The parallel robot according to 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 rotatably connected to 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 part of the first connecting rod (721) is arranged in a hollow mode, the second connecting rod (722) is in sliding connection 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 in sliding connection with the limiting groove (723).
4. A 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 on 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 fixedly connected with the two second threaded rods (83) respectively, the threaded sleeve (85) is slidably connected to the inner wall of the driving shell (82), 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), and the first fixed 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), a second fixing plate (92), a worm (93) and a fifth servo motor (94), one end of the first rotating shaft (12) is fixed with the worm wheel (91), one side of the first fixing plate (11) is symmetrically fixed with the second fixing plate (92), the middle parts of the two second fixing plates (92) are rotatably connected with the worm (93) through bearings, the worm (93) is meshed with the worm wheel (91), one side of the second fixing plate (92) is fixed with the fifth servo motor (94), 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 the top of the sliding plate (86) is symmetrically fixed with an L-shaped block (16), the two sides of the driving shell (82) are symmetrically provided with guide grooves (17), and one end of the L-shaped block (16) is slidably connected with the guide grooves (17).
7. The parallel robot according to claim 1, wherein a guide rail (18) is symmetrically fixed on one side of the swing arm (4), a track slider (19) is slidably connected on one side of the two guide rails (18), a third fixing shaft (20) is fixed on one side of the track slider (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 on one side of the third fixing strip (67), a fourth fixing shaft (23) is fixed in 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 according to claim 1, characterized in that the swing arm (4) is provided with a lightening hole in the middle.
9. The parallel robot of claim 5, wherein the first (3), second (610), third (73) and fourth (84) and fifth (94) servomotors are each one type of gear motor.
10. A trajectory control method of a parallel robot according to any one of claims 1 to 9, characterized in that the trajectory control method comprises:
1) Pi (X) 0 ，Y 0 ，Z 0 ) With Pt (X) t ，Y t ，Z t ) The initial point and the end point of the linear motion of the robot are respectively known, the pose information is known, the robot is set to move along the linear track at the speed v, and t is the time interval when the robot operates.
2) When the robot runs from point Pi to point Pt, it can be derived that:
spatial linear travel distance:
distance of end effector travel 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 adopting a rounding method;
3) The motion variation of the robot along the X, Y, Z axis is shown as:
the coordinates of each interpolation point in the path running are shown in the formula:
where n is the number of interpolations.
4) And obtaining a corresponding angle value from the interpolated coordinate point through an inverse kinematics operation functional packet, and outputting the angle value to a robot servo driver.
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| WO2016155469A1 (en) * | 2015-04-02 | 2016-10-06 | 苏州神运机器人有限公司 | Robot based on parallelogram principle |
| KR20190072338A (en) * | 2017-12-15 | 2019-06-25 | (주)프로템 | Delta Robot having an Interval Holding Device |
| CN212331023U (en) * | 2020-04-24 | 2021-01-12 | 河南中博食品机械有限公司 | Novel parallel robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2019206403A1 (en) * | 2018-04-24 | 2019-10-31 | Abb Schweiz Ag | A parallel kinematic robot |
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|---|---|---|---|---|
| WO2016155469A1 (en) * | 2015-04-02 | 2016-10-06 | 苏州神运机器人有限公司 | Robot based on parallelogram principle |
| KR20190072338A (en) * | 2017-12-15 | 2019-06-25 | (주)프로템 | Delta Robot having an Interval Holding Device |
| CN212331023U (en) * | 2020-04-24 | 2021-01-12 | 河南中博食品机械有限公司 | Novel parallel robot |
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