CN115039572B - Six-degree-of-freedom series-parallel picking manipulator - Google Patents
Six-degree-of-freedom series-parallel picking manipulator Download PDFInfo
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- CN115039572B CN115039572B CN202210870618.8A CN202210870618A CN115039572B CN 115039572 B CN115039572 B CN 115039572B CN 202210870618 A CN202210870618 A CN 202210870618A CN 115039572 B CN115039572 B CN 115039572B
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- 230000033001 locomotion Effects 0.000 claims abstract description 27
- 230000003068 static effect Effects 0.000 claims abstract description 15
- 238000013519 translation Methods 0.000 claims description 3
- 230000036544 posture Effects 0.000 description 11
- 235000013399 edible fruits Nutrition 0.000 description 10
- 241001122767 Theaceae Species 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
Abstract
The invention relates to the technical field of picking manipulators, in particular to a six-degree-of-freedom series-parallel picking manipulator which comprises a serial mechanism part and a parallel mechanism part; the parallel mechanism part comprises a static platform, a dynamic platform, a mixed branched chain and a simple branched chain; the mixed branched chain comprises a plane five-rod mechanism, and three independent movements of X-Y-gamma can be realized by the serial mechanism part of the mixed branched chain; the parallel mechanism part can realize three independent movements of Z-alpha-beta, three pairs of movement are realized to drive the movable platform to ascend and descend simultaneously, the load in the vertical direction is large, the bearing capacity of the movable platform is also greatly improved, meanwhile, the three pairs of movement can also control two independent movements of alpha-beta, the posture adjustment is realized, the accumulated error of posture change of the picking tool is reduced, the precision of posture control is improved, the driving force required by posture change is reduced, and the parallel mechanism part is suitable for occasions where the posture of the picking tool needs to be frequently changed and the load in the vertical direction is large.
Description
Technical Field
The invention relates to the technical field of picking operators, in particular to a six-degree-of-freedom series-parallel picking operator.
Background
At present, a great deal of research on picking robots for fruits and the like is carried out by a great deal of researchers at home and abroad, but the picking efficiency is lower, and a great deal of products basically stay at about 20 seconds for picking single fruits, and the robot has the following characteristics: 1) The fruit and tea robots have strong operation seasonality and high use cost; 2) The working environment of the fruit and tea picking robot is complex and changeable. 3) The special of the fruit and tea picking robot using objects. Therefore, aiming at special crops such as fruits and tea, the picking robot with light weight, low cost, small volume and high working efficiency is provided, a more compact and multifunctional mechanism design is provided, the efficient picking of special crops such as fruits and tea in China complex topography is met, and the design trend of the picking robot in the next step is realized.
The performance of the picking manipulator determines the picking quality and picking rate, and at present, the patent related to the picking manipulator mainly comprises the following components: 1) a ZL 2015146355.5-tea picking machine, 2) a ZL 20120322278.4-tea bionic picking finger, 3) a ZL 20201039226.2-a parallel type automatic famous tea picking robot, 4) a famous tea picking robot, 5) a ZL 201810756487.4-fruit picking robot, 6) a ZL 201810756487.4-hanging-type fruit picking mechanical arm, 7) a ZL 20121308897.4-force-sensitivity-based flexible mechanical claw, a use method and 8) a ZL 202020367930.1-picking mechanical arm.
In order to enable the picking manipulator to work smoothly, any point position and 3 postures in a physical space are needed to be achieved; therefore, the novel 6-DOF picking manipulator which is convenient to manufacture, low in cost and convenient to control is researched and invented, and a technical foundation is laid for high-efficiency, flexibility and accurate intelligent picking of special crops under complex environments (such as complex walking terrain, large weight of picked objects and large vertical load).
Disclosure of Invention
The invention aims to solve the technical problems that: in order to solve the defects in the prior art, the six-degree-of-freedom picking manipulator with easy kinematic/dynamic solution and motion decoupling is provided.
The technical scheme adopted for solving the technical problems is as follows: a six-degree-of-freedom series-parallel picking manipulator comprises a series mechanism part and a parallel mechanism part;
the serial mechanism part comprises a horizontal cross beam, a vertical beam and a rotating arm, wherein the horizontal cross beam is arranged on the guide rail, is connected with the moving pair IV and moves back and forth in the X direction; the vertical beam is connected to the horizontal cross beam through a fifth moving pair and moves left and right in the Y direction; the rotating arm is connected with the plumb beam through a fifth rotating pair, and the axis of the fifth rotating pair is parallel to the Z direction;
the parallel mechanism part comprises a static platform, a dynamic platform, a mixed branched chain and a simple branched chain;
the mixed branched chain comprises a plane five-rod mechanism consisting of a first revolute pair, a second revolute pair, a sixth revolute pair and a third revolute pair which are sequentially connected in series; the moving directions of the first moving pair and the third moving pair are the Z directions of up-and-down movement; the connecting rod between the first moving pair and the third moving pair is positioned on the static platform; the axes of the first revolute pair, the second revolute pair and the third revolute pair are parallel to each other; the moving direction of the first moving pair is vertical to the axis of the first rotating pair; the connecting rod between the first revolute pair and the second revolute pair is an output rod, the output rod is connected with the fourth revolute pair, and the axis of the fourth revolute pair is vertical to the axis of the first revolute pair;
the simple branched chain is formed by sequentially connecting a second moving pair, a first ball pair and a second ball pair in series, the second moving pair is arranged on a static platform, two ends of the moving platform are respectively connected with the second ball pair and the fourth rotating pair, a picking tool is fixedly arranged on the moving platform, and the static platform is fixedly connected with the rotating arm;
the first moving pair, the second moving pair, the third moving pair, the fourth moving pair, the fifth moving pair and the fifth rotating pair are driving pairs.
Further, the axis of the first revolute pair is perpendicular to the axis of the fifth revolute pair;
further, the output rod and the revolute pair are arranged in a four-coaxial mode.
Further, the rotating arm and the revolute pair are arranged in a five-axis mode.
Further, the two guide rails are parallel to each other, and two ends of the horizontal cross beam are respectively arranged on the two guide rails.
Furthermore, the mixed picking manipulator can generate three-translation and three-rotation output motion and has symbol position positive decoupling and pose motion decoupling.
The beneficial effects of the invention are as follows: the serial mechanism part of the six-degree-of-freedom serial-parallel picking manipulator can realize three independent motions of X-Y-gamma, so that the manipulator has a larger moving working space in an X-Y horizontal plane and a larger rotating working space; the parallel mechanism part can realize three independent movements of Z-alpha-beta, three moving pairs (a first moving pair, a second moving pair and a third moving pair) can drive the moving platform to ascend and descend simultaneously, the vertical load is large, the parallel mechanism part can be suitable for picking larger fruits, the bearing capacity of the moving platform is also greatly improved, meanwhile, the three moving pairs can also control two independent movements of alpha-beta, the posture adjustment is realized, the accumulated error of posture change of the picking tool is reduced, the precision of posture control is improved, the driving force required by posture change is reduced, and the parallel mechanism part can be suitable for occasions where the posture of the picking tool needs to be frequently changed and the vertical load is large;
the six-degree-of-freedom series-parallel picking manipulator further comprises: 1) The sign type position forward solution is easy to solve; 2) The device has the pose motion decoupling characteristic; 3) Easy processing and manufacturing, etc.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic diagram of a six degree of freedom series-parallel picking manipulator of the present invention;
in the figure: 1. the device comprises a movable platform 2, an output rod 3, a guide rail 8, a static platform 9, a rotating arm 10, a vertical beam 11 and a horizontal cross beam;
i, a mixed branched chain, II, and a simple branched chain;
p, picking tools;
P 1 moving pair one, P 2 Second, moving pair, P 3 Third, moving pair, P 4 Four pairs of moving pairs, P 5 Fifth, the moving pair;
R 1 one of the revolute pairs R 2 Second revolute pair, R 3 Three revolute pairs R 4 Four revolute pairs R 5 Five revolute pairs.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only those features which are relevant to the invention, and orientation and reference (e.g., up, down, left, right, etc.) may be used solely to aid in the description of the features in the drawings. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the claimed subject matter is defined only by the appended claims and equivalents thereof.
Example 1
As shown in FIG. 1, the six-degree-of-freedom series-parallel picking manipulator comprises a serial mechanism part and a parallel mechanism part;
the serial mechanism part comprises a horizontal cross beam 11, a vertical beam 10 and a rotating arm 9, wherein the horizontal cross beam 11 is arranged on the guide rails 3, specifically, two guide rails 3 can be arranged in parallel with each other, and two ends of the horizontal cross beam 11 are respectively arranged on the two guide rails 3; horizontal beam 11 and four moving pairs P 4 Is connected and moves back and forth in the X direction; the plumb beam 10 passes through the five P pairs of moving pairs 5 Is connected to the horizontal beam 11 and moves left and right in the Y direction, namely four moving pairs P 4 Five P of the moving direction and the moving pair of the (c) 5 Is perpendicular to the moving direction; the rotating arm 9 passes through the revolute pair five R 5 Connected to the vertical beam 10The rotating arm 9 can be connected with the fifth R of the rotating pair 5 Coaxially arranged; five R of revolute pair 5 The axis of the pair is parallel to the Z direction, namely five R of the revolute pair 5 Axis and kinematic pair five P 5 Is perpendicular to the moving direction;
the parallel mechanism part comprises a static platform 8, a movable platform 1, a mixed branched chain I and a simple branched chain II, wherein the mixed branched chain I and the simple branched chain II are positioned between the static platform 8 and the movable platform 1;
the mixed branched chain I comprises a pair of moving pairs P which are sequentially connected in series 1 One R of revolute pair 1 Two R of revolute pair 2 Three R of revolute pair 3 Three P of mobile pair 3 A plane five-bar mechanism is formed; movable pair P 1 And a third P of moving pair 3 The moving directions of the two are parallel to each other and are all Z directions of up-and-down movement; movable pair P 1 And a third P of moving pair 3 The connecting rod between the two is positioned on the static platform 8; revolute pair R 1 Two R of revolute pair 2 Three R of revolute pair 3 The axes of which are parallel to each other, and a revolute pair R 1 Five R of axis and revolute pair 5 Is perpendicular to the axis of the shaft; movable pair P 1 Moving direction and revolute pair one R 1 Is perpendicular to the axis of the shaft; revolute pair R 1 And two R of revolute pair 2 The connecting rod between the two is an output rod 2, and the output rod 2 and the revolute pair are four R 4 To which, for example, the output rod 2 can be connected with four revolute pairs R 4 Coaxially arranged; four R of revolute pair 4 Axis and revolute pair R 1 Is perpendicular to the axis of the shaft;
the simple branched chain II is an unconstrained branched chain and consists of a moving pair II P 2 Ball pair S 1 Two ball pairs S 2 Formed by sequentially connecting in series, two moving pairs P 2 Is arranged on a static platform 8, and two ends of a movable platform 1 are respectively connected with a ball pair S 2 And four R of revolute pair 4 The picking tool P is fixedly installed on the movable platform 1, and the picking tool P can be a hand gripper, a cutter or the like, for example, which is not limited in the embodiment; the static platform 8 is fixedly connected with the rotating arm 9; movable pair P 1 Two P of moving pair 2 Three P of mobile pair 3 Can be arranged parallel to each other, it will be appreciated that the pair P 1 A center line of (C),Movable pair II P 2 Center line of (d) and moving pair three P 3 Is not arranged in a collinear manner;
movable pair P 1 Two P of moving pair 2 Three P of mobile pair 3 Four P of mobile pair 4 Five P of mobile pair 5 Five R of revolute pair 5 Are all driving pairs.
The mixed picking manipulator can generate three-translation and three-rotation output motion and has symbol position positive decoupling and pose motion decoupling.
The serial mechanism part in this embodiment can realize three independent movements of X-Y-gamma, specifically, X-direction back and forth movement, Y-direction left and right movement and five R around the revolute pair 5 A rotation angle gamma of the axis; realize that there is great movement working space in X-Y horizontal plane, have great rotational working space at the same time;
in the embodiment, the parallel mechanism part can realize three independent movements of Z-alpha-beta, specifically, the output quantity of the moving platform 1 is R which is an auxiliary rotating pair for moving up and down along the Z axis 1 A rotation angle α of the axis and a rotation angle β around the output rod 2; realizing three moving pairs (moving pair-R 1 Two moving pairs R 2 Three R of mobile pair 3 ) Meanwhile, the movable platform 1 is driven to ascend and descend, the vertical load is large, the movable platform 1 can be suitable for picking larger fruits, the bearing capacity of the movable platform 1 is also greatly improved, simultaneously, three moving pairs can control two independent movements of alpha and beta, and the posture adjustment is realized, so that the accumulated error of posture change of the picking tool P is reduced, the precision of posture control is improved, the driving force required by posture change is reduced, and the movable platform is suitable for occasions where the posture of the picking tool P needs to be frequently changed and the vertical load is large;
thus, the six-degree-of-freedom series-parallel manipulator can realize 3T3R output motion (X-Y-gamma+Z-alpha-beta).
The six-degree-of-freedom series-parallel picking manipulator has the advantages that: 1) The mechanism symbol type position forward solution is easy to solve; 2) The mechanism has pose motion decoupling characteristics; 3) Easy processing and manufacturing.
The above-described preferred embodiments according to the present invention are intended to suggest that, from the above description, various changes and modifications can be made by the worker in question without departing from the technical spirit of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (6)
1. A six-degree-of-freedom series-parallel picking manipulator is characterized in that: comprises a series mechanism part and a parallel mechanism part;
the serial mechanism part comprises a horizontal cross beam (11), a vertical beam (10) and a rotating arm (9), wherein the horizontal cross beam (11) is arranged on the guide rail (3), and the horizontal cross beam (11) and a moving pair IV (P) 4 ) Is connected and moves back and forth in the X direction; the plumb beam (10) is moved by five pairs (P) 5 ) Is connected to the horizontal cross beam (11) and moves left and right in the Y direction; the rotating arm (9) is connected with the five (R) rotating pair 5 ) Is connected with a plumb beam (10) and a revolute pair five (R) 5 ) Is parallel to the Z direction;
the parallel mechanism part comprises a static platform (8), a dynamic platform (1), a mixed branched chain (I) and a simple branched chain (II);
the mixed branched chain (I) comprises a pair of moving pairs (P) 1 ) Revolute pair one (R) 1 ) Second revolute pair (R) 2 ) Three of revolute pairs (R) 3 ) Third sliding pair (P) 3 ) A plane five-bar mechanism is formed; movable pair one (P) 1 ) And a third sliding pair (P) 3 ) The moving direction of the device is the Z direction of up-and-down movement; movable pair one (P) 1 ) And a third sliding pair (P) 3 ) The connecting rod between the two is positioned on the static platform (8); revolute pair one (R) 1 ) Second revolute pair (R) 2 ) Revolute pair III (R) 3 ) The axes of which are parallel to each other; movable pair one (P) 1 ) And one (R) of the revolute pair 1 ) Is perpendicular to the axis of the shaft; revolute pair one (R) 1 ) And revolute pair II (R) 2 ) The connecting rod between the two is an output rod (2), and the output rod (2) and a revolute pair IV (R) 4 ) Is connected with four revolute pairs (R 4 ) Axis and revolute pair one (R) 1 ) Is perpendicular to the axis of the shaft;
the simple branched chain (II) is formed by a second shifting pair (P) 2 ) Ball pair one (S) 1 ) Ball pair II (S) 2 ) Formed by serial connection in turn, a second sliding pair (P) 2 ) Is arranged on a static platform (8), and two ends of a movable platform (1) are respectively connected with a ball pair II (S) 2 ) And revolute pair four (R 4 ) The picking tool (P) is fixedly arranged on the movable platform (1), and the static platform (8) is fixedly connected with the rotating arm (9);
the moving pair one (P) 1 ) Second sliding pair (P) 2 ) Third sliding pair (P) 3 ) Four of the sliding pair (P) 4 ) Mobile five (P) 5 ) Five revolute pairs (R) 5 ) Are all driving pairs.
2. The six degree of freedom series-parallel picking manipulator of claim 1, wherein: the revolute pair one (R) 1 ) Five (R) 5 ) Is perpendicular to the axis of the machine.
3. The six degree of freedom series-parallel picking manipulator of claim 1, wherein: the output rod (2) and the revolute pair IV (R) 4 ) Coaxially arranged.
4. The six degree of freedom series-parallel picking manipulator of claim 1, wherein: the rotating arm (9) and the fifth rotating pair (R) 5 ) Coaxially arranged.
5. The six degree of freedom series-parallel picking manipulator of claim 1, wherein: the number of the guide rails (3) is two, the guide rails are parallel to each other, and the two ends of the horizontal cross beam (11) are respectively arranged on the two guide rails (3).
6. The six degree of freedom series-parallel picking manipulator of claim 1, wherein: the mixed picking manipulator can generate three-translation and three-rotation output motion and has symbol position positive decoupling and pose motion decoupling.
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| CN202210870618.8A CN115039572B (en) | 2022-07-22 | 2022-07-22 | Six-degree-of-freedom series-parallel picking manipulator |
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| CN202210870618.8A CN115039572B (en) | 2022-07-22 | 2022-07-22 | Six-degree-of-freedom series-parallel picking manipulator |
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| CN115039572A CN115039572A (en) | 2022-09-13 |
| CN115039572B true CN115039572B (en) | 2023-11-14 |
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2022
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