CN115070736A - Large-working-space series-parallel picking manipulator - Google Patents

Large-working-space series-parallel picking manipulator Download PDF

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Publication number
CN115070736A
CN115070736A CN202210851349.0A CN202210851349A CN115070736A CN 115070736 A CN115070736 A CN 115070736A CN 202210851349 A CN202210851349 A CN 202210851349A CN 115070736 A CN115070736 A CN 115070736A
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China
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pair
revolute pair
parallel
series
revolute
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CN202210851349.0A
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Chinese (zh)
Inventor
李涛
汪林平
丁文芹
孟庆梅
沈惠平
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Changzhou University
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Changzhou University
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Priority to CN202210851349.0A priority Critical patent/CN115070736A/en
Publication of CN115070736A publication Critical patent/CN115070736A/en
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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
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to the technical field of agricultural manipulators, in particular to a large-working-space series-parallel picking manipulator which comprises a series mechanism part and a parallel mechanism part; the series mechanism part comprises a horizontal cross beam, a vertical beam, an up-down moving component and a vertical rotary movable arm; the parallel part comprises a static platform, a dynamic platform, a mixed branched chain and a simple branched chain; the series mechanism part can realize the independent motion of X-Y-Z-gamma, so as to realize larger rotation and three-dimensional movement working space, and is suitable for occasions with higher fruit trees and needing to rotate around the fruit trees in a large range; the parallel mechanism can realize two independent motions alpha-beta to reduce the accumulated error of the change of the hand-held posture, improve the precision of posture control, reduce the driving force required by the posture change and be suitable for occasions requiring frequent change of the hand-held posture; the parallel-serial picking manipulator with the large working space has the advantages of easy solving of symbolic position forward solution, pose motion decoupling characteristic, easy processing and manufacturing and the like.

Description

Large-working-space series-parallel picking manipulator
Technical Field
The invention relates to the technical field of agricultural manipulators, in particular to a large-working-space series-parallel picking manipulator which is easy to solve by new kinematics/dynamics and has motion decoupling.
Background
At present, a great number of researchers at home and abroad have carried out a great deal of research on picking robots such as fruits and the like, but the picking efficiency is low, and a great number of products basically stay in single fruit picking for about 20s, and the fruit picking robot has the following characteristics: 1) the fruit and tea robot has strong operation seasonality and high use cost; 2) the operation environment of the fruit and tea picking robot is complex and changeable. 3) The particularity of the fruit and tea picking robot is that the robot is used for the objects. Therefore, aiming at special channel 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 requirement for efficient picking of the special channel crops such as the fruits and the tea in the complex terrain in China is met, and the design trend of the picking robot in the next step is provided.
The performance of the picking manipulator determines the quality and rate of picking, and at present, the patents related to the picking manipulator mainly include: 1) ZL201510546355.5. tea picking machine, 2) ZL20120322278.4. tea bionic picking finger, 3) ZL20201039226.2. parallel automatic famous tea picking robot, 4) ZL201811294419.7 famous tea picking robot, 5) ZL201810756487.4 fruit picking robot, 6) ZL201810756487.4 suspension type fruit picking mechanical arm, 7) ZL20121308897.4 force-sensitive-based flexible mechanical claw and use method, and 8) ZL202020367930.1 picking mechanical arm.
In order to make the picking manipulator work smoothly, any point position and 3 postures in a physical space need to be reached; therefore, a novel 6-DOF picking manipulator which is convenient to manufacture, low in cost and convenient to control needs to be researched and invented, and a technical foundation is laid for high-efficiency, flexible and accurate intelligent picking of special-channel crop intelligent picking in a complex environment (such as complex walking terrain and large fruit tree height).
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to solve the defects in the prior art, a large-working-space hybrid picking manipulator with novel kinematics/dynamics is easy to solve and motion decoupling is provided.
The technical scheme adopted by the invention for solving the technical problems is as follows: a large-working-space series-parallel picking manipulator comprises a series mechanism part and a parallel mechanism part;
the series mechanism part comprises a horizontal cross beam, a vertical beam, an up-down moving component and a vertical rotary movable arm; the horizontal beam is arranged on the guide rail, is connected with the moving pair and moves back and forth in the X direction; the upper end of the vertical beam is connected to the horizontal cross beam through a second moving pair and moves left and right in the Y direction; the upper end of the up-down moving component is connected with the lower end of the vertical beam through a third moving pair and moves up and down in the Z direction; the upper end of the vertical rotating movable arm is connected with the lower end of the up-down moving member through a revolute pair seven, and the axis of the revolute pair seven is parallel to the moving direction of the revolute pair three;
the parallel part comprises a static platform, a dynamic platform, a mixed branched chain and a simple branched chain, wherein the mixed branched chain and the simple branched chain are arranged between the static platform and the dynamic platform;
the hybrid branched chain comprises a planar hinge four-bar mechanism and a revolute pair five, wherein the planar hinge four-bar mechanism is composed of a revolute pair I, a revolute pair II, a revolute pair III and a revolute pair IV, the axes of the revolute pair I, the revolute pair II, the revolute pair III and the revolute pair IV are mutually parallel and are sequentially connected in series; the connecting rod between the first revolute pair and the fourth revolute pair is positioned on the static platform; the connecting rod between the second revolute pair and the third revolute pair is an output rod, the output rod is connected with the fifth revolute pair, and the axis of the fifth revolute pair is perpendicular to the axis of the first revolute pair;
the simple branched chain (II) is an unconstrained branched chain and is formed by sequentially connecting a revolute pair six, a ball pair one and a ball pair two in series, the revolute pair six is arranged on the static platform, two ends of the dynamic platform are respectively connected with the ball pair two and the revolute pair five, the axis of the revolute pair three is not coplanar with the motion plane of the plane hinge four-bar mechanism, a hand grab is fixedly arranged on the dynamic platform, and the static platform is fixedly connected with the lower end of the vertical rotary movable arm;
the first sliding pair, the second sliding pair, the third sliding pair, the seventh sliding pair, the sixth sliding pair and the first sliding pair are all driving pairs.
Further, the axis of the revolute pair seven is perpendicular to the axis of the revolute pair one.
Further, the axis of the output rod is collinear with the axis of the five revolute pairs.
Further, the axis of the revolute pair seven is coaxial with the center line of the up-and-down moving component.
Furthermore, the number of the guide rails is two, the guide rails are parallel to each other, and two ends of the horizontal cross beam are respectively installed on the two guide rails.
Furthermore, the movable platform can generate three-translation three-rotation output motion and has symbolic position forward solution and pose motion decoupling performance.
The invention has the beneficial effects that: the serial mechanism part of the large-working-space picking manipulator can realize the independent motion of X-Y-Z-gamma so as to realize larger rotation and three-dimensional movement working space, and the manipulator is suitable for occasions with higher fruit trees and needing to rotate around the fruit trees in a large range; the parallel mechanism can realize two independent motions alpha-beta to reduce the accumulated error of the change of the hand-held posture, improve the precision of posture control, reduce the driving force required by the posture change and be suitable for occasions requiring frequent change of the hand-held posture; the parallel-serial picking manipulator with the large working space has the advantages of easy solving of symbolic position forward solution, pose motion decoupling characteristic, easy processing and manufacturing and the like.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic view of a large workspace series-parallel picking robot of the present invention;
in the figure: 1. the device comprises a movable platform, a static platform, an output rod, a vertical rotary movable arm, an up-down moving component, a vertical beam, a horizontal cross beam, a guide rail and a vertical beam, wherein the movable platform 2, the static platform 3, the output rod 7, the vertical rotary movable arm 8, the up-down moving component 9, the vertical beam 10, the horizontal cross beam 11 and the guide rail are arranged on the vertical beam;
i, mixed branched chains, II, simple branched chains;
p, grasping by hand;
P 1 moving pair one, P 2 A moving pair II, P 3 Move, moveA third moving pair;
R 1 a revolute pair I, R 2 And a revolute pair II, R 3 A revolute pair III, R 4 And a revolute pair of four, R 5 Five revolute pairs R 6 Six revolute pairs R 7 Seventh revolute pair;
S 1 ball pair one, S 2 And a ball pair II.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic diagrams illustrating the basic structure of the present invention only in a schematic manner, and thus show only the constitution related to the present invention, and directions and references (e.g., upper, lower, left, right, etc.) may be used only to help 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, a large-working-space hybrid picking manipulator comprises a serial mechanism part and a parallel mechanism part;
the series mechanism part comprises a horizontal cross beam 10, a vertical beam 9, an up-down moving component 8 and a vertical rotary movable arm 7; the horizontal beam 10 is installed on the guide rail 11, and the horizontal beam 10 and the moving pair P 1 Connecting and moving back and forth in the X direction; the upper end of the plumb beam 9 is connected to the horizontal cross beam 10 through a sliding pair P2 and moves left and right in the Y direction; the upper end of the vertical moving component 8 passes through a moving pair III P 3 Is connected with the lower end of the plumb beam 9 and moves up and down in the Z direction; the upper end of the vertical rotary movable arm 7 passes through a revolute pair seven R 7 Connected with the lower end of the up-down moving component 8 and provided with a revolute pair seven R 7 Axis of (2) and sliding pair III 3 Are parallel to each other;
the parallel part comprises a static platform 2, a dynamic 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 arranged between the static platform 2 and the dynamic platform 1;
the mixed branched chain I comprises a plane hinge four-bar mechanism and a revolute pair fiveR 5 The plane hinge four-bar mechanism is formed by a revolute pair R with axes parallel to each other and connected in series in sequence 1 And a revolute pair II R 2 Three R of revolute pair 3 And four R of revolute pair 4 Forming; revolute pair R 1 And a revolute pair IV R 4 The connecting rod between the two is positioned on the static platform 2; revolute pair II R 2 And a revolute pair III R 3 The connecting rod between the two is an output rod 3, the output rod 3 and a five-R revolute pair 5 Connected and revolute pair five R 5 The axis of the first rotating shaft is vertical to the first rotating pair R 1 An axis of (a);
the simple branched chain II is an unconstrained branched chain and consists of a revolute pair six R 6 Ball pair S 1 And ball pair two S 2 Formed by sequentially connecting in series, a revolute pair six R 6 Is arranged on the static platform 2, and two ends of the movable platform 1 are respectively connected with the ball pair II S 2 And a revolute pair five R 5 Connected with a revolute pair III R 6 The axis of the movable platform is not coplanar with the motion plane of the plane hinge four-bar mechanism, a hand grab P is fixedly arranged on the movable platform 1, and the static platform 2 is fixedly connected with the lower end of the vertical rotary movable arm 7;
moving pair P 1 And a sliding pair II P 2 And a moving pair III 3 Seven R of revolute pair 7 Six R of revolute pair 6 And a revolute pair R 1 Are all driving pairs.
Specifically, the revolute pair is seven R 7 Axis and revolute pair R 1 Is vertical.
Specifically, the axis of the output rod 3 and the five revolute pairs R 5 Are collinear.
Concretely, the revolute pair seven R 7 Is coaxial with the center line of the up-and-down moving member 8.
Specifically, there are two guide rails 11 parallel to each other, and both ends of the horizontal beam 10 are respectively mounted on the two guide rails 11.
Specifically, the movable platform 1 can generate three-translation three-rotation output motion, and has symbolic position forward solution and pose motion decoupling.
In the embodiment, the serial mechanism part can realize the independent motion of X-Y-Z-gamma, specifically, the X-direction back and forth movement, the Y-direction left and right movement, and the Z-direction up and down movementSeven R moving and revolving pair 7 The rotation angle γ of the axis; the fruit tree three-dimensional moving mechanism has larger rotating and three-dimensional moving working space, and is suitable for occasions with higher fruit trees and needing to rotate around the fruit trees in a large range;
the output quantity of the paw P on the movable platform 1 of the parallel part in the embodiment is the rotation angle alpha around the first rotation pair R1 axis and the five rotation pair R 5 The rotation angle beta of the axis. Thus, the parallel portion can achieve two independent motions of α - β; the accumulated error of the change of the hand-held posture is reduced, the precision of posture control is improved, the driving force required by posture change is reduced, and the method is suitable for occasions where the hand-held posture needs to be changed frequently;
thus, the output motion (X-Y-Z-gamma + alpha-beta) of 3T3R can be realized by the parallel picking manipulator formed by the combination of the serial mechanism and the parallel part.
The advantages of the series-parallel picking manipulator are as follows: 1) the mechanism symbolic position forward solution is easy to solve; 2) the mechanism has the pose motion decoupling characteristic; 3) easy processing and manufacture.
In light of the foregoing description of the preferred embodiment of the present invention, it is to be understood that numerous changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims (6)

1. The utility model provides a big workspace series-parallel picking manipulator which characterized in that: comprises a serial mechanism part and a parallel mechanism part;
the series mechanism part comprises a horizontal cross beam (10), a vertical beam (9), an up-down moving component (8) and a vertical rotary movable arm (7); the horizontal beam (10) is arranged on the guide rail (11), and the horizontal beam (10) and the first moving pair (P) 1 ) Connecting and moving back and forth in the X direction; the upper end of the plumb beam (9) passes through a second sliding pair (P) 2 ) Is connected on the horizontal beam (10) and moves left and right in the Y direction; the upper end of the up-down moving component (8) passes through a moving pair III (P) 3 ) Is connected with the lower end of the plumb beam (9),and move up and down in the Z direction; the upper end of the vertical rotary movable arm (7) passes through a revolute pair seven (R) 7 ) Connected with the lower end of the up-down moving component (8) and provided with a revolute pair seven (R) 7 ) Axis of (D) and sliding pair III (P) 3 ) Are parallel to each other;
the parallel connection part comprises a static platform (2), a movable platform (1), a mixed branched chain (I) and a simple branched chain (II), and the mixed branched chain (I) and the simple branched chain (II) are arranged between the static platform (2) and the movable platform (1);
the mixed branched chain (I) comprises a plane hinge four-bar mechanism and a revolute pair five (R) 5 ) The plane hinge four-bar mechanism is formed by a first revolute pair (R) with axes parallel to each other and connected in series in sequence 1 ) And a revolute pair II (R) 2 ) And revolute pair III 3 ) And a revolute pair IV (R) 4 ) Forming; the first revolute pair (R) 1 ) And a revolute pair IV (R) 4 ) The connecting rod between the two is positioned on the static platform (2); the second revolute pair R 2 ) And revolute pair III 3 ) The connecting rod between the two is an output rod (3), the output rod (3) and a five-revolute pair (R) 5 ) Connected by a fifth revolute pair (R) 5 ) The axis of the first rotating pair is vertical to the first rotating pair (R) 1 ) An axis of (a);
the simple branched chain (II) is an unconstrained branched chain and consists of a revolute pair VI (R) 6 ) Ball pair one (S) 1 ) And ball pair two (S) 2 ) Formed by sequentially connecting in series, revolute pair six (R) 6 ) Is arranged on the static platform (2), and two ends of the movable platform (1) are respectively connected with the ball pair II (S) 2 ) And a fifth revolute pair (R) 5 ) Connected with a revolute pair III 6 ) The axis of the movable platform (1) is not coplanar with the motion plane of the plane hinge four-bar mechanism, a hand grab (P) is fixedly arranged on the movable platform (1), and the static platform (2) is fixedly connected with the lower end of the vertical rotary movable arm (7);
the moving pair I (P) 1 ) And a sliding pair II (P) 2 ) And sliding pair III (P) 3 ) Seven revolute pairs (R) 7 ) Six revolute pairs (R) 6 ) And a revolute pair I (R) 1 ) Are all driving pairs.
2. The large workspace series-parallel picking manipulator according to claim 1, characterized in that: the revolute pair seven (R) 7 ) Axis and revolute pair I (R) 1 ) Is vertical.
3. The large workspace series-parallel picking manipulator according to claim 1, characterized in that: the axis of the output rod (3) and a five revolute pair (R) 5 ) Are collinear.
4. The large workspace series-parallel picking manipulator according to claim 1, characterized in that: the revolute pair seven (R) 7 ) Is coaxial with the center line of the vertical moving member (8).
5. The large workspace series-parallel picking manipulator according to claim 1, characterized in that: the two guide rails (11) are parallel to each other, and two ends of the horizontal cross beam (10) are respectively arranged on the two guide rails (11).
6. The large workspace series-parallel picking manipulator according to claim 1, characterized in that: the movable platform (1) can generate three-translation three-rotation output motion and has symbolic position forward solution and pose motion decoupling performance.
CN202210851349.0A 2022-07-20 2022-07-20 Large-working-space series-parallel picking manipulator Pending CN115070736A (en)

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Application Number Priority Date Filing Date Title
CN202210851349.0A CN115070736A (en) 2022-07-20 2022-07-20 Large-working-space series-parallel picking manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210851349.0A CN115070736A (en) 2022-07-20 2022-07-20 Large-working-space series-parallel picking manipulator

Publications (1)

Publication Number Publication Date
CN115070736A true CN115070736A (en) 2022-09-20

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210851349.0A Pending CN115070736A (en) 2022-07-20 2022-07-20 Large-working-space series-parallel picking manipulator

Country Status (1)

Country Link
CN (1) CN115070736A (en)

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