CN115366080A - Method for carrying workpiece by using high-rigidity two-translation two-rotation parallel mechanism - Google Patents
Method for carrying workpiece by using high-rigidity two-translation two-rotation parallel mechanism Download PDFInfo
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- 238000013519 translation Methods 0.000 title claims abstract description 23
- 239000011521 glass Substances 0.000 claims description 81
- 238000012546 transfer Methods 0.000 claims description 14
- 238000004519 manufacturing process Methods 0.000 claims description 9
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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
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Abstract
The invention discloses a method for carrying workpieces by using a high-rigidity two-translation two-rotation parallel mechanism, which comprises the following steps of: arranging a parallel mechanism which comprises a movable platform, a fixed platform and a branched chain structure for connecting the two platforms, wherein the branched chain structure consists of a plurality of groups of branched chains which are symmetrically arranged in pairs in parallel, each branched chain comprises a sliding pair, and the sliding pair is a driving pair; an objective table is arranged on the outer side surface of the movable platform; combining a workpiece to be carried with an objective table; and driving the moving pair of each branched chain to change the length of each branched chain to the required length, moving the movable platform relative to the fixed platform by a distance and/or rotating by an angle, and taking out the workpiece to realize the transportation of the workpiece. The invention utilizes the parallel mechanism with simple structure and compact structure and the four branched chains are distributed symmetrically in pairs, has strong bearing capacity, can realize the translation of the movable platform and the inclination of a multi-direction required angle by matching with the driving sliding pair, and is suitable for carrying various workpieces.
Description
Technical Field
The invention belongs to the technical field of article carrying, and particularly relates to a method for carrying workpieces by using a high-rigidity carrying mechanism which is designed in parallel and can realize translation and rotation of a workbench in two directions.
Background
In industrial manufacturing and processing, workpieces in a production line are often required to be moved and transported, for example, in the deep processing production process of glass, glass samples, glass sheets, finished products and the like are required to be transferred and transported, and the workpieces are required to move stably and have accurate positions in the transportation process. An existing glass transfer robot, for example, patent document CN 114380053 (document 1) discloses a glass transfer robot, wherein a forking detection mechanism (1) of the glass transfer robot can realize longitudinal, transverse, vertical movement and horizontal rotation, and can realize a working state of stably carrying and placing a workpiece from rapid to deceleration in a movement process, but a transverse movement mechanism (4) and a longitudinal movement mechanism (5) occupy a large space, a branched chain formed by an up-down movement mechanism (2) and a rotation mechanism (3) is complex, the structure is not rigid enough, a single up-down movement mechanism (2) is not enough as a driving force of a driving pair, the forking detection mechanism (1) serving as a workbench is connected with a single arm of the up-down movement mechanism (2), the bearing capacity is poor, a control system is slightly complex, and the rotation requirements of the workpiece in two directions cannot be realized.
Disclosure of Invention
The invention aims to provide a method for carrying workpieces by utilizing a high-rigidity two-translation two-rotation parallel mechanism, so that the problems in the prior art can be solved.
The invention provides a method for carrying workpieces by using a high-rigidity two-translation two-rotation parallel mechanism, which comprises the following steps of:
arranging a parallel mechanism which comprises a movable platform, a fixed platform and a branched chain structure for connecting the two platforms, wherein the branched chain structure consists of a plurality of groups of branched chains which are symmetrically arranged in pairs and are connected in parallel, each branched chain comprises a sliding pair, and the sliding pair is a driving pair;
an objective table is arranged on the outer side surface of the movable platform;
combining a workpiece to be carried with an objective table;
driving the moving pair of each branched chain to change the length of each branched chain to the required length, and moving the movable platform relative to the fixed platform by a distance and/or rotating by an angle; and
separating the workpiece from the objective table or separating the objective table from the movable platform;
the conveying of the workpiece is completed through the steps.
In the method, each branched chain comprises a first connecting rod and a second connecting rod which are respectively connected with the movable platform and the fixed platform, and the first connecting rod and the second connecting rod are connected through the moving pair; setting the moving speeds of the moving pairs in the first branched chain, the second branched chain, the third branched chain and the fourth branched chain as V1, V2, V3 and V4 respectively; the movable platform is of a cross structure, and Hooke hinge supports used for being connected with one end of each branched chain are arranged at the tail ends of the cross structure; the first branched chain and the third branched chain which form the first group have the same structure and are symmetrical left and right in the cross structure, and the second branched chain and the fourth branched chain which form the second group have the same structure and are symmetrical front and back in the cross structure; setting the initial lengths of the vertical positions of the first branched chain, the second branched chain, the third branched chain and the fourth branched chain to be L respectively 1 、L 2 、L 3 、L 4 And L is 1 ＝L 3 、L 2 ＝L 4 ，L 2 ＜L 1 And the first connecting rod and the second connecting rod in the shorter branched chain are connected with the movable platform and the fixed platform through hooke joints.
The specific method comprises the following steps:
mode one (longitudinal shift): and driving the moving pair of each branch chain to simultaneously extend or retract according to V1= V2= V3= V4, so as to move the moving platform to a direction far away from or close to the fixed platform.
Mode two (translation): adjusting the speed of the moving pair to ensure that V1= V3, V2= V4 and V2 > V1, so that the elongations of the four branched chains satisfy the following relation, and the moving platform horizontally moves towards the side direction relative to the fixed platform in the direction parallel to the fixed platform;
setting the horizontal moving distance of the movable platform as x, and the extending distance delta L of the first branched chain and the third branched chain 1 And Δ L 3 Comprises the following steps:
the distance Δ L of elongation of the second and fourth branches 2 And Δ L 4 Comprises the following steps:
mode three (left-right tilt): the speed V1 of the moving pair is adjusted to be more than V3, so that the first branch chain extends and the third branch chain contracts simultaneously, the plane of the movable platform is driven to incline towards one side of the third branch chain relative to the plane of the fixed platform, and the variation quantity delta L of the first branch chain is adjusted 1 And third branch variation Δ L 3 Comprises the following steps:
wherein: l is 13 The distance between a Hooke hinge support connected with the first branched chain and a Hooke hinge support connected with the third branched chain on the movable platform is set, and alpha is an angle of the plane of the movable platform inclining to one side of the third branched chain relative to the plane of the fixed platform;
or adjusting the speed V3 of the sliding pair to be more than V1, so that the third branched chain extends and the first branched chain contracts, and the plane of the movable platform is driven to incline towards one side of the first branched chain relative to the plane of the fixed platform.
Mode four (front-back tilt): the speed V2 of the moving pair is adjusted to be more than V4, so that the second branched chain extends and the fourth branched chain contracts simultaneously, the movable platform plane is driven to incline towards one side of the fourth branched chain relative to the fixed platform plane, and the elongation delta L of the second branched chain is 2 And second branch shrinkage Δ L 4 Comprises the following steps:
wherein: l is 24 The distance between a Hooke hinge support connected with the second branched chain and a Hooke hinge support connected with the fourth branched chain on the movable platform is beta, which is the angle that the plane of the movable platform inclines to one side of the fourth branched chain relative to the plane of the fixed platform;
or, adjusting the velocity V2 of the moving pair<V4, enabling the second branched chain to contract and the fourth branched chain to extend so as to drive the movable platform plane to incline towards one side of the second branched chain relative to the fixed platform plane, wherein the contraction quantity delta L of the second branched chain 2 And fourth branch elongation Δ L 4 Comprises the following steps:
wherein: l is 24 The distance between a Hooke hinge support connected with the second branched chain and a Hooke hinge support connected with the fourth branched chain on the movable platform is beta, which is the angle that the plane of the movable platform inclines to one side of the second branched chain relative to the plane of the fixed platform.
In the method, the fixed platform is a rectangular platform, two spherical hinge supports which are symmetrical left and right and two Hooke hinge supports which are symmetrical front and back are arranged at the longitudinal alignment position of the Hooke hinge support on the movable platform, and the spherical hinge support and the Hooke hinge support on the fixed platform are connected with the other end of each branched chain; the top end of a first connecting rod of the first branched chain or the third branched chain is connected with a Hooke hinge support in alignment with the movable platform through a rotating pair, and the tail end of a second connecting rod is connected with a spherical hinge support in alignment with the fixed platform through a spherical pair; the moving direction of the moving pair is vertical to the rotating axis of the rotating pair, and the axis of the moving direction of the moving pair passes through the center of the ball pair; the top end of a first connecting rod of the second branched chain or the fourth branched chain is connected with a Hooke hinge support for aligning the movable platform through a first Hooke hinge, and the tail end of the second connecting rod is connected with a Hooke hinge support for aligning the fixed platform through a second Hooke hinge; the rotation axes of the first hook joint and the second hook joint are parallel to each other and are vertical to the moving direction of the sliding pair.
When the method is used for carrying glass in a glass production line, the objective table is a pneumatic sucker, the glass to be carried is horizontally placed, the surface of the glass to be carried, which is in contact with the pneumatic sucker, faces upwards, the fixed platform is fixed on a hanging bracket of a ceiling, the pneumatic sucker is additionally arranged on the movable platform, and the working surface of the pneumatic sucker faces downwards, and the method comprises the following steps:
1) Driving a moving pair to extend simultaneously to enable the moving platform to vertically move downwards from an initial state (namely a state that the plane of the moving platform is parallel to the plane of the fixed platform) until a pneumatic sucker contacts the surface of the glass, controlling the pneumatic sucker to suck the glass tightly, and driving the moving pair to shorten simultaneously to enable the moving platform to ascend until a preset height is reached;
2) Driving the sliding pair to enable the movable platform to horizontally move towards the side direction relative to the fixed platform in the direction parallel to the fixed platform according to the second mode, and moving the glass to the position above a glass rack for placing the glass;
3) According to the inclination direction and the angle of the glass frame, adjusting the speed of the sliding pair corresponding to the branched chain in a third mode or a fourth mode to enable the plane of the movable platform to incline towards one side close to the glass frame so as to incline the glass and align the glass frame;
4) After the glass inclines to reach the angle of the glass frame, the glass is stably placed in the glass frame, and the pneumatic sucker is controlled to release the adsorbed glass plate;
5) And controlling the whole parallel mechanism to leave the glass frame and return to the initial position, adjusting the speed of the sliding pair corresponding to the branched chain to enable the movable platform to be reversely inclined and return to the initial state parallel to the fixed platform, and carrying out the next piece of glass.
When the method is used for transferring workpieces in a production line, the object stage is an object carrying frame with a guard plate, the movable platform is arranged below the upper fixed platform, and the method comprises the following steps:
(1) Driving the moving pair to enable the moving platform to firstly translate to a position close to the workpiece to be transferred from an initial state (the plane of the moving platform is parallel to the plane of the fixed platform) according to the second mode, and then driving the moving pair to enable the moving platform to incline to the workpiece to be transferred according to the third mode or the fourth mode; then manually or by a manipulator, the workpieces to be transferred are placed into the carrying frame one by one until the carrying frame is filled;
(2) Adjusting the speed of the sliding pair corresponding to the branched chain to enable the movable platform to reversely tilt and return to a horizontal state (parallel to the fixed platform);
(3) Separating the workpiece from the carrying frame: driving the sliding pair to enable the moving platform to translate to one side of the transfer destination according to the second mode, and driving the sliding pair to enable the moving platform to incline according to the third mode or the fourth mode; then the workpieces are taken out of the carrying frame one by a manual or a mechanical hand.
If need long distance transport work piece, decide platform lateral surface and install the travelling car additional, move the platform and can remove on ground, it is fixed to remove to need to transport work piece department, and aforementioned step (3) replacement is with carrying thing frame and moving the platform separation: and controlling the sliding pair to retract to the shortest at the same time according to the first mode, moving the fixed platform to a transfer destination by using the trolley, and removing the whole carrying frame provided with the workpiece from the driven platform.
The workpiece carrying method provided by the invention utilizes the original high-rigidity two-translation two-rotation parallel mechanism, has a compact structure, a simple configuration and easy control of the driving pair, is a moving pair, and the moving platforms supported by the four branched chains have strong and stable bearing capacity, so that accurate control is convenient to realize, the condition that the bearing capacity is weak due to insufficient driving force of the driving pair in the document 1 is avoided, the performances of the mechanism such as bearing capacity, driving stability and integral rigidity are improved, the singular position type is eliminated, and the operability of the mechanism is improved. The four moving pairs are driven to drive the moving platform to realize translation motion in two directions and rotation motion in two directions relative to the fixed platform. The parallel mechanism has the advantages that the branched chains are symmetrically distributed, the moving directions of the driving pairs are the same, the bearing capacity is strong, the calculation and the control are simple, the pneumatic sucker or the glass carrying platform with the protective plate can be additionally arranged on the movable platform, the parallel mechanism can be used for carrying and sorting glass, the object carrying platform additionally arranged on the movable platform can be replaced according to the loaded workpieces, and the carrying mechanism can be suitable for carrying various workpieces.
Drawings
FIG. 1 is a schematic three-dimensional structure of a parallel mechanism used in the workpiece carrying method of the present invention;
FIG. 2 is a fragmentary pictorial view of the three-dimensional structure of FIG. 1;
FIG. 3 is a longitudinal (Z-axis) translation working diagram of the movable platform relative to the fixed platform of the parallel mechanism;
FIG. 4 is a schematic view of the parallel mechanism moving platform moving horizontally (X-axis) relative to the fixed platform;
FIG. 5 is a schematic view of the operation of the movable platform of the parallel mechanism rotating around the Y-axis of the fixed platform;
FIG. 6 is a schematic view showing the operation of the movable platform of the parallel mechanism rotating inwards (V2 > V4) around the X axis of the fixed platform;
FIG. 7 is a schematic view showing the operation of rotating the movable platform of the parallel mechanism outward (V2 < V4) around the X axis of the fixed platform;
FIG. 8 is a schematic view showing the pneumatic suction cup attached to the movable platform of the parallel mechanism for glass transportation according to the present invention;
FIG. 9 is a schematic view of the movable platform loading frame of the parallel mechanism for workpiece transportation according to the present invention.
The reference numbers in the figures mean:
1 is a first branched chain, 1-1 is a first branched chain first connecting rod, 1-2 is a first branched chain second connecting rod, 1A is a first branched chain revolute pair, 1B is a first branched chain revolute pair, and 1C is a first branched chain spherical pair;
2 is a second branched chain, 2-1 is a second branched chain first connecting rod, 2-2 is a second branched chain second connecting rod, 2A is a second branched chain first hook joint, 2B is a second branched chain moving pair, and 2C is a second branched chain second hook joint;
3 is a third branched chain, 3-1 is a third branched chain first connecting rod, 3-2 is a third branched chain second connecting rod, 3A is a third branched chain revolute pair, 3B is a third branched chain revolute pair, and 3C is a third branched chain spherical pair;
4 is a fourth branched chain, 4-1 is a fourth branched chain first connecting rod, 4-2 is a fourth branched chain second connecting rod, 4A is a fourth branched chain first hook joint, 4B is a fourth branched chain moving pair, and 4C is a fourth branched chain second hook joint;
5 is a movable platform, 6 is a fixed platform, 7 is a pneumatic sucker, and 8 is a carrying frame.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The invention provides a method for carrying workpieces by utilizing a high-rigidity two-translation two-rotation parallel mechanism, as shown in figure 1, the parallel mechanism comprises a movable platform 5, a fixed platform 6 and a branched chain structure for connecting the two platforms, wherein the fixed platform 6 is a fixed platform, the platform is provided with two spherical hinge supports which are symmetrical left and right, and two Hooke hinge supports which are symmetrical front and back; the movable platform 5 is a working platform for loading the carried workpieces and can be designed into a simplest cross structure, and Hooke hinge supports (used for being connected with all branched chains) are arranged at the tail ends of the cross structure; the movable platform 5 and the fixed platform 6 are spaced, a branched chain structure composed of at least two groups of branched chains is arranged between the tail end of a cross structure of the movable platform 5 and the fixed platform 6, each branched chain is connected between two hinged supports opposite to the movable platform and the fixed platform, the number of the branched chains is matched with the structural form of the movable platform 5, for example, the movable platform 5 is of a cross structure, the number of the branched chains is two groups, the branched chains are four, and the branched chains can be divided into a first branched chain 1, a second branched chain 2, a third branched chain 3 and a fourth branched chain 4, the first branched chain 1 and the third branched chain 3 which form the first group are identical in structure (the specific structure is described later) and are symmetrically arranged at two ends (the left end and the right end) of a line of the cross structure, and the second branched chain 2 and the fourth branched chain 4 which form the second group are identical in structure (the specific structure is described later) and are symmetrically arranged at two ends (the front end and the rear end) of an I line of the cross structure. As an example, the parallel handling mechanism formed by combining the rectangular fixed platform 6, the cross-shaped movable platform 5 and four branches (the first branch 1, the second branch 2, the third branch 3 and the fourth branch 4) is in a three-dimensional structure in the X axis, the Y axis and the Z axis as shown in fig. 1, and the movable platform 5 can realize translation in two directions (along the Z axis or the X axis) and rotation in two directions (along the X axis or the Y axis) in space relative to the fixed platform 6 by means of the state change of the branches which are connected in parallel and symmetrically distributed in pairs. The following is further detailed:
in the parallel conveying mechanism of the present invention, all the branched chains have one moving pair, the example of the conveying mechanism shown in fig. 1 has four moving pairs in total, and as shown in fig. 2, the first branched chain moving pair 1B, the second branched chain moving pair 2B, the third branched chain moving pair 3B, and the fourth branched chain moving pair 4B are respectively, and the moving directions of the four moving pairs 1B, 2B, 3B, and 4B are parallel to each other, and all the moving pairs are driving pairs (capable of being controlled and driven by a motor). The specific branched structure is shown in fig. 2, wherein:
as set forth above, the first and third branches 1 and 3 are identical in structure and symmetrically arranged in one direction (fig. 1 is arranged in the X-axis direction). The first branched chain 1 comprises a first branched chain first connecting rod 1-1, a first branched chain second connecting rod 1-2, a first branched chain revolute pair 1A, a first branched chain revolute pair 1B and a first branched chain spherical pair 1C, the top end of the first branched chain first connecting rod 1-1 is connected with a Hooke hinge support in the contraposition of the movable platform 5 through the first branched chain revolute pair 1A, the top end of the first branched chain second connecting rod 1-2 is connected with the tail end of the first branched chain second connecting rod 1-1 through the first branched chain revolute pair 1B, and the tail end of the first branched chain second connecting rod 1-2 is connected with a spherical hinge support in the contraposition of the fixed platform 6 through the first branched chain spherical pair 1C; in the first branched chain 1, the rotation axis of the first branched chain revolute pair 1A is vertical to the movement direction of the first branched chain revolute pair 1B, and the axis of the movement direction of the revolute pair 1B passes through the center of the first branched chain spherical pair 1C.
The third branch chain 3 comprises a third branch chain first connecting rod 3-1, a third branch chain second connecting rod 3-2, a third branch chain revolute pair 3A, a third branch chain moving pair 3B and a third branch chain spherical pair 3C, the top end of the third branch chain first connecting rod 3-1 is connected with a Hooke hinge support in the contraposition of a movable platform 5 through the third branch chain revolute pair 3A, the top end of the third branch chain second connecting rod 3-2 is connected with the tail end of the first connecting rod 3-1 through the third branch chain moving pair 3B, and the tail end of the third branch chain second connecting rod 3-2 is connected with a spherical hinge support in the contraposition of a fixed platform 6 through the third branch chain spherical pair 3C; in the third branched chain, the rotation axis of the third branched chain revolute pair 3A is vertical to the movement direction of the third branched chain revolute pair 3B, and the axis of the movement direction of the revolute pair 3B passes through the center of the third branched chain spherical pair 3C.
As set forth above, the second and fourth branches 2 and 4 are identical in structure and symmetrically arranged in the other direction (arranged in the Y-axis direction in fig. 1). The second branched chain 2 comprises a first connecting rod 2-1 of the second branched chain, a second connecting rod 2-2 of the second branched chain, a first hook joint 2A of the second branched chain, a second branched chain sliding pair 2B and a second hook joint 2C of the second branched chain. The top end of a first connecting rod 2-1 of a second branched chain is connected with a Hooke hinge support in the contraposition of a movable platform 5 through a first Hooke hinge 2A of the second branched chain, the tail end of the first connecting rod 2-1 of the second branched chain is connected with the top end of a second connecting rod 2-2 of the second branched chain through a movable pair 2B, and the tail end of a second connecting rod 2-2 of the second branched chain is connected with a Hooke hinge support in the contraposition of a fixed platform 6 through a second Hooke hinge 2C of the second branched chain; in the second branched chain 2, the rotation axes of a first Hooke joint 2A of the second branched chain and a second Hooke joint 2C of the second branched chain are parallel to each other, and each rotation axis of the first Hooke joint 2A of the second branched chain and the second Hooke joint 2C of the second branched chain is vertical to the moving direction of a second branched chain moving pair 2B.
The fourth branched chain 4 comprises a fourth branched chain first connecting rod 4-1, a fourth branched chain second connecting rod 4-2, a fourth branched chain first hook joint 4A, a fourth branched chain moving pair 4B and a fourth branched chain second hook joint 4C, and has the same structure as the second branched chain 2. The top end of a fourth branched chain first connecting rod 4-1 is connected with a Hooke hinge support at the contraposition of a movable platform 5 through a fourth branched chain first Hooke hinge 4A, the tail end of the fourth branched chain first connecting rod 4-1 is connected with the top end of a fourth branched chain second connecting rod 4-2 through a moving pair 4B, and the tail end of the fourth branched chain second connecting rod 4-2 is connected with a Hooke hinge support at the contraposition of a fixed platform 6 through a fourth branched chain second Hooke hinge 4C; in the fourth branched chain 4, the rotation axes of a first hooke joint 4A of the fourth branched chain and a second hooke joint 4C of the fourth branched chain are parallel to each other, and each rotation axis of the first hooke joint 4A of the fourth branched chain and the second hooke joint 4C of the fourth branched chain is perpendicular to the moving direction of the fourth branched chain sliding pair 4B.
According to the above description, a high-rigidity two-translation two-rotation parallel carrying mechanism comprising a movable platform 5, a fixed platform 6, a first branched chain 1, a second branched chain 2, a third branched chain 3 and a fourth branched chain 4 is obtained, the moving directions of a first branched chain moving pair 1B, a second branched chain moving pair 2B, a third branched chain moving pair 3B and a fourth branched chain moving pair 4B in a branched chain structure are parallel to each other (in the figure 1, the moving directions are up and down moving), the rotating directions of rotating pairs in the first branched chain 1 and the third branched chain 3 are vertical to the moving direction of the self moving pair, and the rotating directions of all Hooke hinges in the second branched chain 2 and the fourth branched chain 4 are vertical to the moving direction of the self branched chain.
The sliding pair, the revolute pair, the ball pair (also referred to as a spherical pair), and the hooke joint (a hinge mechanism capable of providing two degrees of freedom) described above can be any of commercially available products.
Several typical working states of the present invention for carrying a workpiece by using a high-rigidity two-translation two-rotation parallel mechanism (taking the structure of fig. 1 as an example) are described in an exemplary manner with further reference to the accompanying drawings, wherein V1, V2, V3, and V4 are the moving speeds of first, second, third, and fourth branched-chain moving pairs, and the moving pairs are all driving pairs, and the speed and position can be accurately controlled by using a servo motor and a lead screw type push-pull rod; definition of L 1 、L 2 、L 3 、L 4 Respectively the initial lengths in the vertical positions of the first, second, third and fourth branch chains, L 1 ＝L 3 、L 2 ＝L 4 And L is 2 ＜L 1 。
Mode one (longitudinal shift): for example, fig. 3 shows the moving pair simultaneously extended (V1 = V2= V3= V4), and the moving platform moved away from the stationary platform (the moving platform was in the Z-axis direction). In the direction opposite to that of fig. 3, the control sliding pair retracts simultaneously (VI = V2= V3= V4), and the movable platform moves to approach the fixed platform (the movable platform moves downwards along the Z-axis).
Mode two (translation): for another example, fig. 4 shows a state in which the movable platform moves horizontally. If the horizontal moving distance of the movable platform is x, the first branched chain and the third branched chain are extended by a distance (delta L) 1 And Δ L 3 ) Comprises the following steps:
distance of elongation (Δ L) of second and fourth branches 2 And Δ L 4 ) Comprises the following steps:
due to L 2 ＜L 1 Therefore Δ L 2 ＞ΔL 1 And (3) adjusting the speed of the sliding pair: v1= V3, V2= V4, V2 > V1, so that when the elongations of the four branches meet the above relationship, the translation of the movable platform in the horizontal lateral direction (along the X axis) is maintained.
Mode three (left-right tilt): as another example, FIG. 5 shows the velocity V1 > V3 of the sliding pair being adjusted such that the first branch is elongated while the third branch is contracted by an amount (Δ L) 1 And Δ L 3 ) Comprises the following steps:
wherein: l is a radical of an alcohol 13 The distance between the first branched chain and the hooke hinge support of the third branched chain on the movable platform is α, which is an angle of counterclockwise rotation of the movable platform around a short axis (Y axis) of the fixed platform (see fig. 5, in which X1 is parallel to the X axis), that is, an angle of inclination of the plane of the movable platform relative to the plane of the fixed platform to the side where the third branched chain is located.
The moving amount enables the moving platform to incline to one side of the third branched chain.
If the movable platform is required to incline to one side of the first branch chain, the speed V3 of the moving pair is more than V1, so that the third branch chain extends and the first branch chain contracts, and the plane of the movable platform is driven to incline to one side of the first branch chain relative to the plane of the fixed platform. The method is the same as the above method, and is not described again.
Mode four (front-back tilt): as another example, FIG. 6 shows the velocity V2 > V4 of the sliding pair being adjusted such that the second branch elongates, while the fourth branch contracts and the second branch elongates Δ L 2 Second branch shortened by Δ L 4 ：
Wherein: l is 24 Hooke's hinge support for second branch chain and fourth branch chain on movable platformThe pitch, β, is the angle of rotation of the movable stage about the long axis (X-axis) (see fig. 6, where Y1 is parallel to the Y-axis).
The speed of the moving pair is set according to the proportional relation, so that the movable platform rotates clockwise around the long axis (X axis) of the fixed platform to incline to one side of the fourth branched chain, and the angle is rotated by beta.
As another example, FIG. 7 shows the velocity V2 of the adjustment sliding pair<V4, so that the second branch shrinks and the fourth branch elongates at the same time, the second branch shrinks by delta L 2 Fourth branch elongation Δ L 4 ：
Wherein: l is 24 The distance between the hooke hinge supports of the second branch chain and the fourth branch chain on the movable platform is beta, which is the angle of rotation of the movable platform around the long axis (X axis) (see fig. 7, in which Y2 is parallel to the Y axis).
The moving pair is set according to the proportional relation, so that the movable platform can rotate anticlockwise around the long axis (X axis) of the fixed platform and incline to one side of the second branched chain.
In combination with the above-described changing state of the movable platform, the workpiece can be conveyed by the above-described high-rigidity two-translation two-rotation parallel workpiece conveying mechanism by additionally mounting the stage on the outer side surface (the upper surface in the direction shown in fig. 1) of the movable platform. The object stage can be designed according to the shape of the workpiece to be transported, for example, when the object stage is used for transporting and sorting glass, the object stage can be a pneumatic suction cup 7 (shown in fig. 8) or an object carrying frame 8 with a protective plate (shown in fig. 9), and the object stage is detachably connected with the movable platform, so that by using the transporting mechanism of the invention, the corresponding workpieces can be transported only by replacing the object stage. Of course, if the moving trolley is additionally arranged on the outer side surface (the direction is the lower surface as shown in figure 1) of the fixed platform, the movement of the carrying mechanism can also be realized.
Application example one
The following description will be given of the process of transporting glass by using a high-rigidity two-translation two-rotation parallel mechanism, taking a pneumatic sucker as an example in a glass production line to transport glass. In this example, the glass of treating the transport is placed for the level, and the face that contacts with pneumatic suction cup is upwards, and parallel mechanism's fixed platform is fixed on the gallows of ceiling, and pneumatic suction cup installs additional on moving the platform, and pneumatic suction cup working face is downwards:
1) Firstly, referring to the first mode, the movable platform is driven to vertically move downwards (the movable pair extends simultaneously) from an initial state (the movable platform is parallel to the fixed platform) until the pneumatic sucker contacts the surface of the glass, the movement is stopped, and when the pneumatic sucker tightly sucks the glass, the glass slowly rises (the movable pair shortens simultaneously) until the preset height is reached.
The process enables the combination of the workpiece to be carried with an object stage (pneumatic chuck).
2) After the preset height is reached, the movable platform is translated towards the X axis in the above-mentioned manner (i.e. the movable platform moves horizontally towards the side relative to the fixed platform in the direction parallel to the fixed platform), so that the glass is moved to the position near (above) the glass rack for placing the glass.
3) In the step of placing the glass plate, the glass is finally placed on the glass frame, the glass placing surface of the glass frame is inclined at a certain angle with the horizontal direction, the movable platform is rotated at a certain angle around the X axis or the Y axis in the third mode or the fourth mode (the plane of the movable platform is inclined towards one side of the branch chain close to the glass frame relative to the plane of the fixed platform), and the glass adsorbed by the pneumatic sucker can be rotated at a certain angle just right, so that the glass is inclined and aligned with the glass frame.
4) After the glass is inclined to a fixed angle (alpha or beta), the glass is stably placed on a glass frame, and a pneumatic sucker is driven to release the adsorbed glass plate.
The process achieves separation of the workpiece from the stage (pneumatic chuck).
5) And driving the whole parallel mechanism to leave the glass frame and return to the initial position, adjusting the speed of the sliding pair of the corresponding branched chain in a reference mode III or a reference mode IV to enable the movable platform to be reversely inclined and return to the initial state (parallel to the fixed platform), and carrying out the next piece of glass.
It should be understood that the workpiece for this application is not limited to glass, and may be any workpiece that needs to be handled. In the application, the translation of a working face (a movable platform) and the inclination of a multi-direction required angle can be realized by adjusting the speed of each moving pair, so that the position and the speed of a workpiece additionally arranged on the movable platform at any moment can be accurately controlled, and the operation of other automatic equipment can be matched.
Application example two
A transport for work piece in the production line, the objective table is the year thing frame of taking the backplate, moves the platform and decides the platform under last, decides the platform lateral surface and can install the travelling car additional and make it can move on ground, moves to need to transport work piece department fixed. The process of transporting the workpiece (taking glass as an example) by utilizing the high-rigidity two-translation two-rotation parallel mechanism comprises the following steps:
(1) Driving the sliding pair in the above-mentioned mode two to make the movable platform firstly translate to the position close to the glass to be transferred from the initial state (the plane of the movable platform is parallel to the plane of the fixed platform), and then making the movable platform incline towards the movable platform in a mode three or a mode four; then manually or by a manipulator, the glass to be transported is placed into the carrying frame one by one until the rated load is reached or the carrying frame is full.
This process enables the workpiece to be transported to be combined with a stage (carrier frame).
(2) And adjusting the speed of the sliding pair of the corresponding branched chain in the third reference mode or the fourth reference mode to enable the movable platform to be reversely inclined and return to the horizontal state (parallel to the fixed platform).
(3) Unloading in different ways according to the specific position of the transfer destination and the scene of the transfer workpiece:
A. and the moving pair is driven in the second reference mode to enable the moving platform to move horizontally to one side of the transfer destination, the moving platform is inclined in the third reference mode or the fourth reference mode, and then the glass is taken out of the carrying frame one by one manually or by a mechanical arm. The mode is suitable for a scene with a relatively short transfer destination, and the centralized transfer of a plurality of pieces of glass can be realized within the translation distance range of the movable platform. This process achieves separation of the workpiece from the stage (stage frame).
B. And controlling the sliding pair to retract to the shortest at the same time by a first reference mode, and removing the whole carrying frame from the driven platform by utilizing the trolley to move the fixed platform to a transfer destination. The method is suitable for scenes with far transfer destinations, and the carrying frame and the glass therein can be transferred together in any range by moving the fixed platform. The process realizes the separation of the whole workpiece and the object stage (object carrying frame) from the movable platform.
In this application, because parallel mechanism configuration is simple, compact structure, four branched chains two by two symmetric distributions, the platform bearing capacity that moves by its support is strong, for example: when a 50kg push-pull rod is adopted as a moving pair, 200kg of workpieces can be borne under the condition that the connecting rod is kept vertical, and 100kg of workpieces can be borne (the specific numerical value is related to material selection and size) within the range that the included angle between the connecting rod and the vertical direction (Z axis) is less than 60 degrees, and the stability in moving and rotating can be ensured.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above description of the embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A method for carrying workpieces by utilizing a high-rigidity two-translation two-rotation parallel mechanism is characterized by comprising the following steps:
arranging a parallel mechanism which comprises a movable platform (5), a fixed platform (6) and a branched chain structure for connecting the two platforms, wherein the branched chain structure consists of a plurality of groups of branched chains which are symmetrically arranged in pairs and are connected in parallel, each branched chain comprises a sliding pair, and the sliding pair is a driving pair;
an objective table is arranged on the outer side surface of the movable platform;
combining a workpiece to be carried with an objective table;
driving the moving pair of each branched chain to change the length of each branched chain to the required length, and moving the movable platform (5) relative to the fixed platform (6) for a distance and/or rotating for an angle; and
separating the workpiece from the objective table or separating the workpiece and the objective table integrally from the movable platform;
the conveying of the workpiece is completed through the steps.
2. The method of claim 1, wherein:
each branched chain comprises a first connecting rod and a second connecting rod which are respectively connected with the movable platform and the fixed platform, and the first connecting rod and the second connecting rod are connected through the movable pair; setting the moving speeds of the moving pairs in the first branched chain, the second branched chain, the third branched chain and the fourth branched chain as V1, V2, V3 and V4 respectively;
the movable platform (5) is of a cross structure, and the tail end of the cross structure is provided with a Hooke hinge support which is used for being connected with one end of each branched chain; the number of the branched chains is two, four branched chains are arranged, the first branched chain (1) and the third branched chain (3) which form the first group are identical in structure and are symmetrical left and right in the cross structure, and the second branched chain (2) and the fourth branched chain (4) which form the second group are identical in structure and are symmetrical front and back in the cross structure; setting the initial lengths of the first branched chain, the second branched chain, the third branched chain and the fourth branched chain at the vertical positions to be L respectively 1 、L 2 、L 3 、L 4 And L is 1 ＝L 3 、L 2 ＝L 4 ，L 2 ＜L 1 And the first connecting rod and the second connecting rod in the shorter branched chain are connected with the movable platform and the fixed platform through hooke joints.
3. The method of claim 2,
and driving the moving pair of each branch chain to simultaneously extend or retract according to V1= V2= V3= V4, so as to move the moving platform to a direction far away from or close to the fixed platform.
4. The method of claim 2,
adjusting the speed of the moving pair to ensure that V1= V3, V2= V4 and V2 > V1, so that the elongations of the four branched chains satisfy the following relation, and the moving platform horizontally moves towards the side direction relative to the fixed platform in the direction parallel to the fixed platform;
setting the horizontal moving distance of the movable platform as x, and the extending distance delta L of the first branched chain and the third branched chain 1 And Δ L 3 Comprises the following steps:
the distance Δ L of elongation of the second and fourth branches 2 And Δ L 4 Comprises the following steps:
5. the method of claim 2,
the speed V1 of the moving pair is adjusted to be more than V3, so that the first branch chain extends and the third branch chain contracts simultaneously, the plane of the movable platform is driven to incline towards one side of the third branch chain relative to the plane of the fixed platform, and the variation quantity delta L of the first branch chain is adjusted 1 And third branch variation Δ L 3 Comprises the following steps:
wherein: l is 13 The distance between a Hooke hinge support connected with the first branched chain and a Hooke hinge support connected with the third branched chain on the movable platform is set, and alpha is an angle of the plane of the movable platform inclining to one side of the third branched chain relative to the plane of the fixed platform;
or adjusting the speed V3 of the moving pair to be more than V1, so that the third branched chain extends and the first branched chain contracts, and the plane of the movable platform is driven to incline towards one side of the first branched chain relative to the plane of the fixed platform.
6. The method of claim 2,
adjusting the speed V2 of the moving pair to be more than V4, so that the second branched chain extends and the fourth branched chain contracts simultaneously, the movable platform plane is driven to incline towards one side of the fourth branched chain relative to the fixed platform plane, and the elongation delta L of the second branched chain 2 And second branch shrinkage Δ L 4 Comprises the following steps:
wherein: l is 24 The distance between a Hooke hinge support connected with the second branched chain and a Hooke hinge support connected with the fourth branched chain on the movable platform is beta, which is the angle that the plane of the movable platform inclines to one side of the fourth branched chain relative to the plane of the fixed platform;
or adjusting the speed V2 of the moving pair to be less than V4, so that the second branched chain contracts and the fourth branched chain extends to drive the plane of the movable platform to incline towards one side of the second branched chain relative to the plane of the fixed platform, and the contraction quantity delta L of the second branched chain 2 And fourth branch elongation Δ L 4 Comprises the following steps:
wherein: l is a radical of an alcohol 24 The distance between a Hooke hinge support connected with the second branched chain and a Hooke hinge support connected with the fourth branched chain on the movable platform is beta, and the beta is an angle of the plane of the movable platform relative to the plane of the fixed platform to incline towards one side where the second branched chain is located.
7. The method according to any one of claims 2 to 6,
the fixed platform (6) is a rectangular platform, two spherical hinge supports which are symmetrical left and right and two Hooke hinge supports which are symmetrical front and back are arranged at the longitudinal alignment position of the Hooke hinge support on the movable platform, and the spherical hinge support and the Hooke hinge support on the fixed platform are connected with the other end of each branched chain;
the top end of a first connecting rod of the first branch chain (1) or the third branch chain (3) is connected with a Hooke hinge support aligned with the movable platform (5) through a revolute pair, and the tail end of a second connecting rod is connected with a spherical hinge support aligned with the fixed platform (6) through a spherical pair; the moving direction of the moving pair is vertical to the rotating axis of the rotating pair, and the axis of the moving direction of the moving pair passes through the center of the ball pair;
the top end of a first connecting rod of the second branched chain (2) or the fourth branched chain (4) is connected with a Hooke hinge support aligned with the movable platform (5) through a first Hooke hinge, and the tail end of the second connecting rod is connected with a Hooke hinge support aligned with the fixed platform (6) through a second Hooke hinge; the rotation axes of the first hook joint and the second hook joint are parallel to each other and are vertical to the moving direction of the sliding pair.
8. Method according to any of claims 1 to 7, for the handling of glass in a glass production line, wherein the object carrier is a pneumatic suction cup (7), the glass to be handled is placed horizontally, the surface in contact with the pneumatic suction cup is facing upwards, the fixed platform is fixed on a ceiling hanger, the pneumatic suction cup is attached to a movable platform, the working surface of the pneumatic suction cup is facing downwards, the method comprises the following steps:
1) The movable pair is driven to simultaneously extend to enable the movable platform to vertically move downwards from an initial state (namely the parallel state of the plane of the movable platform and the plane of the fixed platform) until the pneumatic sucker contacts the surface of the glass, the pneumatic sucker is controlled to suck the glass tightly, and then the movable pair is driven to simultaneously shorten to enable the movable platform to ascend until a preset height is reached;
2) Driving the moving pair to horizontally move the movable platform laterally relative to the fixed platform in a direction parallel to the fixed platform to move the glass above a glass rack for placing the glass according to the method of claim 4;
3) Adjusting the speed of the sliding pair corresponding to the branched chain according to the inclination direction and angle of the glass frame by the method of claim 5 or 6 to incline the plane of the movable platform to the side close to the glass frame so as to incline the glass and align the glass frame;
4) After the glass inclines to reach the angle of the glass frame, the glass is stably placed in the glass frame, and the pneumatic sucker is controlled to release the adsorbed glass plate;
5) And controlling the whole parallel mechanism to leave the glass frame and return to the initial position, adjusting the speed of the sliding pair corresponding to the branched chain to enable the movable platform to reversely tilt and return to the initial state parallel to the fixed platform, and carrying the next piece of glass.
9. Method according to any one of claims 1 to 7, for the transfer of workpieces in a production line, wherein the carrier is a framed carrier frame (8) with a cover plate, and wherein the moving platform is located below the upper fixed platform, the method comprising the steps of:
(1) Driving the moving pair to enable the moving platform to firstly translate to a position close to the workpiece to be transferred from an initial state (the plane of the moving platform is parallel to the plane of the fixed platform) according to the method of claim 4, and then driving the moving pair to enable the moving platform to incline towards the workpiece to be transferred according to the method of claim 5 or 6; then manually or by a manipulator, the workpieces to be transferred are placed into the carrying frame one by one until the rated load is reached or the carrying frame is full;
(2) Adjusting the speed of the sliding pair corresponding to the branched chain to enable the movable platform to be reversely inclined and return to a horizontal state (parallel to the fixed platform);
(3) Separating the workpiece from the carrying frame: driving the sliding pair to make the platform move to the side of the transfer destination according to the method of claim 4, and then driving the sliding pair to make the platform incline according to the method of claim 5 or 6; then the workpieces are taken out of the carrying frame one by a manual or a mechanical hand.
10. The method as claimed in claim 9, wherein a moving trolley is additionally arranged on the outer side surface of the fixed platform, the moving platform can move on the ground and is fixed at the position where the workpiece needs to be transferred,
and (3) replacing the loading frame with the movable platform to separate: the method of claim 3 wherein the moving pair is controlled to retract to a minimum and the carriage is moved to a destination to remove the carrier frame with the workpiece from the moving platform.
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