CN213796479U

CN213796479U - Parallel manipulator

Info

Publication number: CN213796479U
Application number: CN202020810395.2U
Authority: CN
Inventors: 曲建民; 曲丽英; 王佳心
Original assignee: Jiaxing Yumaoze Intelligent Equipment Co ltd
Current assignee: Jiaxing Yumaoze Intelligent Equipment Co ltd
Priority date: 2020-05-15
Filing date: 2020-05-15
Publication date: 2021-07-27
Anticipated expiration: 2030-05-15

Abstract

The utility model discloses a parallel manipulator, which comprises a fixed platform and a movable platform; a movable platform is arranged below the fixed platform, and the fixed platform comprises two fixed plates and a vertical plate; the motion mechanism consists of a driving arm and a driven arm; the utility model can realize the three-degree-of-freedom motion of the movable platform in the space by controlling the change of the rotation angle of the servo motor; the utility model discloses a fastener can increase motion mechanism's action flexibility, has reduced the probability of the emergence of the not in place condition of action that the movable platform produced because of precision or wearing and tearing, is applied to the production process that the work piece picked up the processing with this parallel manipulator, can replace manual operation to pick up the work piece to, it picks up action precision height, power way moderate, can avoid the broken damage of work piece.

Description

Parallel manipulator

Technical Field

The utility model relates to a manipulator structure specifically is a parallel manipulator.

Background

The parallel manipulator can be defined as a closed-loop mechanism which is formed by connecting a movable platform and a fixed platform through at least two independent kinematic chains, has two or more degrees of freedom, and is driven in a parallel mode. The parallel manipulator has the characteristics of no accumulated error and high precision; the driving device can be arranged on the fixed platform or close to the fixed platform, so that the moving part has light weight, high speed and good dynamic response.

The three-degree-of-freedom parallel mechanism is very concerned in realizing translation in three directions in space, and the high-speed parallel manipulator with three translation degrees of freedom meets the requirements of industrial production with high-speed characteristics, and simultaneously avoids different degrees of pollution to products caused by manual operation.

The parallel robot has the advantages of high rigidity, low inertia, high precision, large load ratio, good power performance, compact structure and the like, which just makes up the defects of the serial robot in the aspects and widens the application range of the robot, so that the parallel robot has attracted extensive attention in the robot field and becomes a research hotspot in the robot field.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a parallelly connected manipulator to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

a parallel manipulator comprises a fixed platform and a movable platform; also comprises a power mechanism and a motion mechanism, a movable platform is arranged below the fixed platform,

the fixed platform comprises two fixed plates and a vertical plate; the fixing plate comprises a central plate and three wing plates which are fixedly connected with each other, the three wing plates are all positioned at the outer edge of the central plate, and the three wing plates form an included angle of 120 degrees with each other; wherein the inner center of the central plate is provided with a lightening hole;

the vertical plate is arranged between the two fixing plates and is used for fixedly connecting the two fixing plates, and the vertical plate and the two fixing plates are arranged vertically;

the three power mechanisms are arranged in three groups and are all arranged on the fixed platform, and the three power mechanisms mutually form an included angle of 120 degrees; the power mechanism comprises a servo motor, a precision speed reducer and a servo motor mounting plate; the servo motor mounting plate is rectangular, the upper end and the lower end of the servo motor mounting plate are fixedly connected with the vertical plate, and the left end and the right end of the servo motor mounting plate are fixedly connected with the vertical plate; the servo motor is fixedly connected with the precision speed reducer, an output shaft of the servo motor is in driving connection with an input end of the precision speed reducer, and the precision speed reducer is fixedly installed on the servo motor installation plate through bolts; the three groups of motion mechanisms are respectively arranged in one-to-one correspondence with the power mechanisms and are uniformly distributed in axial symmetry,

the motion mechanism is composed of a driving arm and a driven arm, wherein the driven arm is in a closed-loop structure, the closed-loop structure is fixedly connected with the driving arm in series, and the driven arm is composed of four spherical pairs and a rod piece, so that three-degree-of-freedom motion of the movable platform in space can be realized by controlling the change of the rotation angle of the servo motor.

Furthermore, the lightening hole is circular or other suitable processing and does not influence the utility model discloses the shape of normal use.

Further, the lightening hole periphery is circular array and is equipped with a plurality of screw holes and is used for the installation the utility model discloses.

Furthermore, the vertical plate is positioned between wing plates of the two fixing plates, and the upper end and the lower end of the vertical plate are fixedly connected with the fixing plates through screws or rivets.

Furthermore, the connection mode of the upper end and the lower end of the vertical plate and the fixing plate is welding or other existing connection modes capable of fixing the upper end and the lower end of the vertical plate and the fixing plate.

Further, the vertical plate and the fixing plate are integrally formed.

Furthermore, one end of the driving arm is fixedly connected with an output shaft of the precision speed reducer; one end of the rod piece is rotatably connected with the other end of the active arm through a spherical pair, and one end of the rod piece is rotatably connected with the movable platform through a spherical pair.

Further, the spherical pair is specifically a spherical hinge or other suitable for the utility model discloses a restraint mechanism.

Furthermore, fasteners are arranged at two ends of the rod pieces and are positioned between the two rod pieces; the fastener includes fixed block and extension spring, and extension spring's both ends respectively fixedly connected with fixed block, the fixed block passes through the pivot and is connected with the member rotation.

Compared with the prior art, the beneficial effects of the utility model are that: a servo motor is an open-loop control element that converts electrical pulse signals into angular or linear displacements. Under the condition of non-overload, the rotating speed and the stopping position of the motor only depend on the frequency and the pulse number of the pulse signal and are not influenced by the load change, when the stepping driver receives the pulse signal, the stepping driver drives the servo motor to rotate by a fixed angle in a set direction, namely a stepping angle, the rotation of the stepping driver operates step by step at the fixed angle, and the angular displacement can be controlled by controlling the number of the pulses, so that the aim of accurate positioning is fulfilled;

the utility model discloses a fastener can increase motion mechanism's action flexibility, has reduced the probability of the emergence of the not in place condition of action that the movable platform produced because of precision or wearing and tearing, is applied to the production process that the work piece picked up the processing with this parallel manipulator, can replace manual operation to pick up the work piece to, it picks up action precision height, power way moderate, can avoid the broken damage of work piece.

Drawings

Figure 1 is a top view of a parallel robot.

Fig. 2 is a schematic structural diagram of a fixing plate in a parallel robot.

Fig. 3 is a schematic diagram of a structure at a in a parallel robot.

Fig. 4 is a schematic structural diagram of a power mechanism in a parallel manipulator.

Fig. 5 is a schematic diagram of the structure of the slave arm in the parallel robot.

Fig. 6 is a schematic view of a fastener structure in a parallel robot.

Detailed Description

The technical solution of the present patent will be described in further detail with reference to the following embodiments.

Referring to fig. 1 to 6, a parallel robot includes a fixed platform 100 and a movable platform 200;

a movable platform 200 is arranged below the fixed platform 100,

also comprises a power mechanism and a motion mechanism,

the fixed platform 100 comprises two fixed plates 110 and a vertical plate 120;

the fixing plate 110 comprises a central plate 111 and three wing plates 112 fixedly connected with each other, the three wing plates 112 are all positioned at the outer edge of the central plate 111, and the three wing plates 112 mutually form an included angle of 120 degrees; wherein, the inner center of the central plate 111 is provided with lightening holes 113, the lightening holes 113 are round or other suitable processing and do not influence the normal use shape of the utility model;

furthermore, the periphery of the lightening hole 113 is provided with a plurality of threaded holes in a circular array for installing the utility model;

the vertical plate 120 is provided with six rectangular plates, the vertical plate 120 is positioned between the two fixing plates 110 and is used for fixedly connecting the two fixing plates 110, and the vertical plate 120 and the two fixing plates 110 are arranged vertically;

specifically, the vertical plate 120 is located between the wing plates 112 of the two fixing plates 110;

specifically, the upper end and the lower end of the vertical plate 120 are fixedly connected with the fixing plate 110 through screws or rivets;

furthermore, the connection mode between the upper end and the lower end of the vertical plate 120 and the fixing plate 110 is welding or other existing connection mode capable of fixing the upper end and the lower end of the vertical plate 120 and the fixing plate 110;

further, the vertical plate 120 is integrally formed with the fixing plate 110;

the three power mechanisms 300 are arranged in three groups and are all arranged on the fixed platform 100, and included angles of 120 degrees are formed among the three power mechanisms;

the power mechanism 300 comprises a servo motor 301, a precision speed reducer 303 and a speed reducer mounting plate 302,

the speed reducer mounting plate 302 is rectangular, the upper end and the lower end of the speed reducer mounting plate 302 are fixedly connected with the vertical plate 120, and the left end and the right end of the speed reducer mounting plate 302 are fixedly connected with the vertical plate 120;

the servo motor 301 is fixedly connected with the precision speed reducer 303, an output shaft of the servo motor 301 is in driving connection with an input end of the precision speed reducer 303, and the precision speed reducer 303 is fixedly installed on the speed reducer installation plate 302 through bolts;

the servo motor can control the speed and position accuracy accurately, and can convert a voltage signal into torque and rotating speed to drive a control object; the rotation speed of the rotor of the servo motor is controlled by an input signal and can quickly respond, the servo motor is used as an execution element in an automatic control system, has the characteristics of small electromechanical time constant, high linearity, small initial voltage and the like, and can convert a received electric signal into angular displacement or angular speed on a motor shaft for output; the servo motor is divided into two categories of a direct current servo motor and an alternating current servo motor, and is mainly characterized in that when the signal voltage is zero, the signal voltage has no autorotation phenomenon, and the rotating speed is reduced at a constant speed along with the increase of the torque; the servo system is an automatic control system which enables the output controlled quantity of the position, the direction, the state and the like of an object to follow the arbitrary change of an input target (or a given value); the servo is mainly positioned by pulses, and basically, the servo motor can rotate by an angle corresponding to 1 pulse after receiving 1 pulse, so that displacement is realized, and the servo motor has the function of sending the pulse, so that the servo motor can send a corresponding number of pulses every time the servo motor rotates by an angle, and the pulses received by the servo motor form a response or a closed loop, so that a system can know how many pulses are sent to the servo motor and how many pulses are received at the same time, and the rotation of the motor can be accurately controlled, so that the accurate positioning can be realized and can reach 0.001 mm;

the three groups of motion mechanisms 400 are respectively arranged in one-to-one correspondence with the power mechanisms 300 and are uniformly distributed in axial symmetry,

the motion mechanism 400 is composed of a driving arm 410 and a driven arm 420, wherein the driven arm 420 is a closed-loop structure, the closed-loop structure is fixed in series with the driving arm 410, and the driven arm 420 is composed of four spherical pairs 422 and a rod 421, so that three-degree-of-freedom motion of the movable platform 200 in space can be realized by controlling the change of the rotation angle of the servo motor 301;

specifically, one end of the driving arm 410 is fixedly connected with an output shaft of the precision reducer 303;

one end of the rod 421 is rotatably connected with the other end of the active arm 410 through a spherical pair 422, and one end of the rod 421 is rotatably connected with the movable platform 200 through a spherical pair 422;

further, the spherical pair 422 is specifically a spherical hinge;

further, two ends of the rod 421 are further provided with fasteners 500, and the fasteners 500 are located between the two rod 421;

the fastener 500 comprises a fixed block 501 and an extension spring 502, the fixed block 501 is fixedly connected to each of two ends of the extension spring 502, and the fixed block 501 is rotatably connected with the rod 421 through a rotating shaft;

the utility model provides a manipulator has following advantage:

the load ratio is large; each kinematic chain of the mechanism bears load, so that under the condition of the same self weight, the mechanism has larger bearing capacity than a serial mechanism;

the rigidity is high; each kinematic chain of the mechanism can share load, and in most cases, the mechanism can only be designed to bear load which is only pulled to be only under tension and pressure; the high rigidity ensures that the deformation of each kinematic chain is extremely small, and ensures the position precision of the end effector on the mechanism;

the inertia is low; most drivers are directly fixed on the base, for example, servo motors are directly fixed on a fixed platform, so that parts needing to move in the mechanism have smaller mass;

the dynamic performance is good; the moving parts in the mechanism have the advantages of low inertia and light weight;

the motion precision is high; errors in the mechanism are equally divided by each kinematic chain, unlike the errors of a series mechanism which mainly come from the accumulation of errors of each joint; therefore, the mechanism error is relatively small and the motion precision is ensured;

the utility model discloses a fastener 500 can increase motion mechanism's action flexibility, has reduced the probability of the emergence of the not in place condition of action that the movable platform produced because of precision or wearing and tearing, is applied to the production process that work piece pick up technology was handled with this parallel manipulator, can replace manual operation to pick up the work piece to, it picks up action precision height, power way moderately, can avoid the broken damage of work piece.

Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.

Claims

1. A parallel manipulator comprises a fixed platform and a movable platform; a movable platform is arranged below the fixed platform; the method is characterized in that: also comprises a power mechanism and a motion mechanism,

2. A parallel manipulator according to claim 1, wherein the lightening holes are circular.

3. The parallel manipulator according to claim 1, wherein the lightening holes are provided with a plurality of threaded holes in a circular array on the periphery.

4. The parallel manipulator according to claim 1, wherein the vertical plate is located between the wing plates of the two fixing plates, and the upper end and the lower end of the vertical plate are fixedly connected with the fixing plates through screws or rivets.

5. The parallel manipulator according to claim 4, wherein the vertical plates are connected to the fixing plate at the upper and lower ends thereof by welding.

6. The parallel manipulator according to claim 4, wherein the vertical plate is integrally formed with the fixing plate.

7. The parallel manipulator according to claim 1, wherein one end of the driving arm is fixedly connected with an output shaft of the precision reducer; one end of the rod piece is rotatably connected with the other end of the active arm through a spherical pair, and one end of the rod piece is rotatably connected with the movable platform through a spherical pair.

8. Parallel manipulator according to claim 1, wherein the spherical pair is embodied as a spherical hinge.

9. The parallel manipulator according to claim 1, wherein the two ends of the rod members are further provided with fasteners, and the fasteners are located between the two rod members; the fastener includes fixed block and extension spring, and extension spring's both ends respectively fixedly connected with fixed block, the fixed block passes through the pivot and is connected with the member rotation.