WO2016106962A1 - 一种索杆复合驱动的并联码垛机器人 - Google Patents

一种索杆复合驱动的并联码垛机器人 Download PDF

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Publication number
WO2016106962A1
WO2016106962A1 PCT/CN2015/072732 CN2015072732W WO2016106962A1 WO 2016106962 A1 WO2016106962 A1 WO 2016106962A1 CN 2015072732 W CN2015072732 W CN 2015072732W WO 2016106962 A1 WO2016106962 A1 WO 2016106962A1
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WO
WIPO (PCT)
Prior art keywords
torque
wire rope
gearbox
base
shaft
Prior art date
Application number
PCT/CN2015/072732
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English (en)
French (fr)
Inventor
訾斌
王炳尧
尹光才
刘浩
Original Assignee
合肥工业大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 合肥工业大学 filed Critical 合肥工业大学
Priority to US15/122,774 priority Critical patent/US10246276B2/en
Publication of WO2016106962A1 publication Critical patent/WO2016106962A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0021—All motors in base
    • 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
    • B25J9/0078—Programme-controlled manipulators having parallel kinematics actuated by cables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0214—Articles of special size, shape or weigh
    • B65G2201/0223—Heavy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G57/00—Stacking of articles
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/03—Stacking of articles by adding to the top of the stack from above

Definitions

  • This patent relates to the field of industrial robots, in particular to a parallel palletizing robot driven by a cable-rod composite drive.
  • palletizing robots are increasingly used in automatic handling operations such as machine tool blanking, automatic assembly lines, palletizing, and containers.
  • the widely used palletizing robot is a tandem palletizing robot represented by an articulated palletizing robot. Taking the joint type palletizing robot as an example, it has the advantages of compact structure, flexible action and small footprint.
  • the open chain serial palletizing robot has problems such as large weight of the robot arm, large inertia, and joint accumulation error. High speed and heavy load requirements.
  • the invention provides a parallel palletizing robot driven by a cable rod composite drive for the defects and deficiencies of the tandem palletizing robot.
  • the driving motor of the invention is mounted on the frame, which can overcome the problem that the arm of the existing palletizing robot mechanism is installed at the hinge thereof, resulting in a bulky arm and a large inertia; the invention also adopts a cable parallel mechanism to avoid the tradition.
  • Open chain serial palletizing robots have poor rigidity and joint error accumulation.
  • a cable-combined driven parallel palletizing robot comprising a frame, wherein: the frame is provided with a base driving mechanism, and the base driving mechanism is mounted with a torque transmission mechanism, the torque A top gear box is mounted on the top of the transmission mechanism, and a boom is movably connected to the top gear box.
  • the movable end of the boom is also provided with a robot end tool for operating the working object, and also includes three wire rope drives and corresponding Three wire ropes, the three wire rope drives are located on the frame and evenly distributed around the base drive mechanism, the base mechanism comprising a base drive inner torque structure and a base drive outer torque structure, the base
  • the driving internal torque structure and the pedestal driving external torque structure are respectively driven by the driving motor to generate an internal torque external torque, and the wire rope is sequentially worn on the pedestal driving external torque mechanism, the torque transmission mechanism, and the top gear box to reach the wire rope
  • the wire rope drive drives the wire rope to transmit external torque to the top gearbox, the internal torque passing through the torque transmission mechanism to the top gearbox, through the top gear Converting drive forearm rotation and lifting motion, using the flexible cable and the connecting rod reaches composite drive implement the entire palletizing robot to perform the transfer operation.
  • the base driving mechanism includes a base, and a base inner torque output shaft is disposed above the base, and a base external torque transmission shaft is disposed below the base; the base external torque transmission The shaft is fixed to the base, and the torque output shaft of the base is fixed below the base torque transmission shaft; the torque output shaft of the base is further equipped with a gear B, and the drive motor A a gear A is disposed on an output shaft of the driving motor A, and the gear A and the gear B are meshed with each other.
  • Machine A drives the torque output shaft in the base via gear A and gear B;
  • a pedestal torque output disk is fixedly mounted below the pedestal external torque transmission shaft; a gear D is further mounted on the pedestal external torque transmission shaft; and a drive motor B is further included, and the drive motor B is mounted on On the side of the base, the output shaft of the drive motor B is provided with a gear C, the gear C and the gear D are meshed, and the drive motor B drives the external torque output shaft via the gear C and the gear D, and The external torque transmitting shaft of the base drives the base torque output turntable mounted under the base to rotate;
  • the torque output shaft in the base and the external torque output shaft on the base rotate independently of each other without interference.
  • the two torque output shaft axes and the horizontal plane of the base drive mechanism The angle is forty-five degrees to maximize the use of the workspace.
  • the torque transmission mechanism includes a double universal joint intermediate shaft, and a universal joint 1 and a universal joint 2 are respectively disposed below and above the intermediate shaft of the double universal joint, and the lower universal joint
  • the other end of the coupling is connected to the torque transmission shaft in the base, and the other end of the upper universal joint is connected to the torque input shaft of the top gear box, and the internal torque of the torque transmission shaft in the base is double
  • the universal coupling is transmitted in the middle of the axial direction.
  • the top gearbox includes a gear box body, and further includes a gearbox torque input mechanism in the gearbox body, a torque output mechanism on the gearbox, and a gearbox lower torque output mechanism;
  • the gearbox torque input mechanism includes a gearbox torque input shaft and a gearbox torque input disk, the gearbox torque input shaft is fixed in a gearbox torque input disk; the gearbox torque input disk It also has a bronze wear ring and a bronze wear ring limit ring.
  • the bronze wear ring is limited to the gearbox torque input plate through the bronze wear ring limit ring, and it keeps the axis of the gearbox torque input disk.
  • One degree of freedom; the gear box and the bronze wear ring are fixedly connected;
  • the pedestal torque output dial and the gearbox torque input disc are evenly mounted with six wire rope joint bearings 1 and a wire rope joint bearing 2, respectively, and the wire rope joint bearing is fixed to the base through the joint bearing end cover On the torque output turntable, the joint bearing end cover is fixed by a bearing end cover fixing screw; the wire rope joint bearing is provided with a wire rope connecting chuck, and the torque transmission wire rope is connected to the wire rope end joint bearing through the wire rope connecting chuck
  • the wire rope connecting chuck has a certain taper, and the torque transmission wire rope can be automatically stuck by deformation.
  • the wire rope joint bearing 2 is mounted on the gear box torque input plate and the internal setting is the same as the wire rope joint bearing;
  • the two ends of the moment transmission wire rope are respectively installed in the wire rope joint bearing 1 and the wire rope joint bearing 2, and when the base torque output turntable is driven to rotate under the driving motor B, the torque transmission wire rope rotates with the base torque output turntable, and is completed.
  • the upward transfer of external torque
  • the wire rope joint bearing 1 and the core of the wire rope joint bearing 2 are on the same plane, and the vertical direction of the torque transmission wire rope is ensured, and the center points of the universal joint joint 1 and the universal joint joint 2 and the wire rope joint respectively The center of the bearing 1 and the wire rope joint bearing 2 are in the same plane to meet the geometric requirements of the mechanism motion.
  • the gearbox lower torque output mechanism includes a gearbox lower torque output shaft, and the through hole of the gearbox lower torque output shaft has two through holes for mounting the forearm and the secondary forearm;
  • the torque output mechanism on the gearbox includes a torque output shaft on the top gearbox, and a wire reel is disposed on the torque output shaft of the top gearbox.
  • a bevel gear C is mounted on the gearbox torque input shaft
  • a bevel gear B is mounted on the torque output shaft of the gearbox
  • the bevel gear C and the gear B mesh and the torque of the gearbox torque input shaft
  • the rotation of the bevel gear C, the bevel gear B and the torque output shaft of the top gearbox to the wire reel is driven.
  • a bevel gear D is mounted on the gearbox torque input disk, and a bevel gear A is mounted on the torque output shaft of the top gearbox.
  • the bevel gear D and the bevel gear A mesh with each other, and the gearbox torque input disk The upper torque is transmitted through the bevel gear D and the bevel gear A to the torque output shaft of the top gearbox to drive its rotation.
  • the gear box body is also equipped with a wire rope guiding device, a wire rope positioning device and three evenly distributed wire rope pull rings.
  • the wire rope guiding device comprises a wire rope guiding device mounting seat, a hollow rotating shaft and a pulley block fixing seat, wherein the hollow rotating shaft is fixed on the wire rope guiding device mounting seat, and the pulley block fixing seat is mounted on the hollow rotating shaft and rotates therewith,
  • Four pulleys A and a wire rope limiting block uniformly distributed are mounted on the pulley block fixing seat, and the pulley A and the wire rope limiting block are mounted on the pulley block fixing seat through the pulley fixing bolts and the nut and the washer, the four
  • the rope groove of each pulley A of the tangential pulley A is a quarter circle, and the wire rope limiting block can limit the wire rope.
  • the wire rope limiting block rotates the hollow shaft to adjust the angle of the pulley A so that the direction is consistent with the wire rope.
  • the boom includes a forearm and a front forearm, the rear end of the forearm and the front forearm are mounted on a lower portion of the torque output shaft of the top gearbox, and a wrist drive motor mounting platform is mounted on the front end, and the wrist drive motor is mounted on the mounting platform There is a wrist drive motor, the forearm, the secondary forearm and the wrist drive motor mounting platform form a parallelogram, thereby ensuring the posture of the wrist; the front end of the forearm is also connected with a wire rope, and the other end of the wire rope is first passed through the wire rope guiding device
  • the upper four tangential pulleys A constitute a circular hole and pass through the hollow rotating shaft, and then pass through the circular hole formed by the rope groove of the pulley B, and finally wound on the steel wire drum, and the boom is driven up and down by the telescopic expansion of the steel wire rope;
  • the torque transmission wire rope is connected to the wire rope drive mounted on the frame after passing through the wire rope pull ring on the top gear box from the wire rope joint shaft.
  • the torque transmission mechanism is used to transfer the power unit to the base, which substantially reduces the quality of the moving part of the machine.
  • the machine has small motion inertia and good dynamic performance, which can meet the requirements of high-speed heavy-duty handling palletizing.
  • the designed robot has better dynamic performance and can better meet the requirements of high speed and heavy load handling.
  • Figure 1 is a working effect diagram of a parallel palletizing robot driven by a cable-rod composite drive
  • Figure 2 is a working effect diagram of the parallel palletizing robot driven by the cable rod composite drive
  • Figure 3 is an exploded view of the base drive mechanism
  • Figure 4 is a structural view of the inner shaft of the base driving portion
  • Figure 5 is a structural view of the outer rotating shaft of the base driving portion
  • Figure 6 is a schematic structural view of a torque transmission mechanism
  • Figure 7 is a schematic structural view of a torque transmission wire end connection device
  • Figure 8 is a schematic structural view of a top gear box
  • Figure 9 is an exploded view of a portion of the top gearbox member
  • Figure 10 is an exploded view of the top gearbox wire guide
  • Figure 11 is an exploded view of the top wire rope positioning device
  • Figure 12 is a schematic view of the structure of the boom.
  • a cable-combined driven parallel palletizing robot includes a frame, and the frame is provided with a base driving mechanism 2, and the base driving mechanism 2 is equipped with a torque.
  • a transmission mechanism 3 a top gear box 5 is mounted on the top end of the torque transmission mechanism 3, a boom 6 is movably connected to the top gear box 5, and a robot arm end tool is further disposed on the movable end of the boom for operation
  • the working object further includes three wire rope drives 1 and corresponding three wire ropes 4, which are located on the frame and evenly distributed around the base drive mechanism 2, the base mechanism 2 including the base drive
  • the inner torque structure and the pedestal driving external torque structure, wherein the pedestal driving inner torque structure and the pedestal driving outer torque structure are respectively driven by a driving motor to generate an internal torque external torque, and the steel wire rope is sequentially worn on the base
  • the external driving torque mechanism, the torque transmission mechanism 3, and the top gear box 5 reach the wire rope drive, and the torque transmission mechanism 3 includes an external transmission transmission mechanism and an internal torque transmission mechanism, and the external transmission transmission transmission
  • the base drive mechanism 2 includes a base 2.12, and a base inner torque output shaft 2.4 is disposed above the base 2.12.
  • 2.12 is provided with a torque transmission shaft 2.11 outside the base;
  • the outer torque transmission shaft 2.11 above the base is fixed by the shaft retaining ring B 2.16, bearing C 2.17, bearing D 2.18 To the base 2.12, as shown in FIG. 5;
  • the torque output shaft 2.4 in the base is fixed to the external torque transmission shaft through the shaft retaining ring A 2.13, the bearing A2.14, and the bearing B2.15. 2.11 inside, as shown in FIG.
  • the base inner torque output shaft 2.4 is further equipped with a gear B2.3, and further comprises a driving motor A2.1, and the output shaft of the driving motor A2.1 is provided with a gear A2.2, the gear A2.2 and the gear B2.3 are engaged, the drive motor A2.1 drives the torque output shaft 2.4 in the base via the gear A2.2 and the gear B2.3;
  • the base torque transmitting shaft 2.11 is fixedly mounted with a base torque output disc 2.10 under the screw 2.9; the base outer torque transmitting shaft 2.11 is further equipped with a gear D; and the driving motor B2.5 is further included.
  • the drive motor B2.5 is mounted on the side of the base 2.12.
  • the output shaft of the drive motor B2.5 is provided with a gear C2.6.
  • the gear C2.6 and the gear D mesh with each other.
  • the drive motor B2.2 drives the external torque output shaft 2.11 via the gear C2.6 and the gear D, and the external torque transmission shaft 2.11 drives the base torque output dial 2.10 mounted under it to rotate;
  • the base inner torque output shaft 2.4 and the outer base torque output shaft 2.11 rotate coaxially and independently of each other, and the two torque output shaft axes of the base drive mechanism are in accordance with the working environment of the conventional transport palletizing operation.
  • the angle to the horizontal plane is forty-five degrees to maximize the use of the workspace.
  • FIG. 6 is a schematic structural view of a torque transmission mechanism according to the present invention, including a double universal coupling intermediate shaft 3.1, and a universal coupling section 3.2 and a universal joint respectively below and above the double universal joint intermediate shaft 3.1 a shaft joint 2, the lower end of the universal joint joint 3.2 is connected to the torque transmission shaft 2.4 in the base, and the other end of the upper universal joint 2 is connected to the torque input shaft 5.19 of the top gear box 4, The internal torque of the torque transmission shaft 2.4 in the base is transmitted upward along the double universal joint intermediate shaft 3.1.
  • the top gearbox structure 4 is mounted on the top end of the torque transmission mechanism 3, as shown in FIG. 12, one end of the universal joint 2 is connected to the double universal joint intermediate shaft 3.1, and the other end is coupled with the gearbox torque input.
  • the shaft 5.19 is connected to transmit torque to the gearbox torque input shaft mechanism;
  • FIGS. 8 to 11 are schematic views of a gearbox structure including a gear housing 5.15, a gearbox torque input mechanism in the gear housing 5.15, a torque output mechanism on the gearbox, and a gearbox.
  • the gearbox torque input mechanism is mounted on the gear housing 5.15, including a gearbox torque input shaft 5.19 and a gearbox torque input disk 5.26, and the gearbox torque input shaft 5.19 passes through the shaft retaining ring C5.20.
  • Bearing I 5.21 and bearing J 5.23 are fixed in the gearbox torque input disk 5.26;
  • the gearbox torque input disk 5.26 also has a bronze wear ring 5.25 and a bronze wear ring limit ring 5.24, which is resistant to bronze.
  • Grinding ring limit ring fixing screw 5.22 Install the bronze wear ring limit ring 5.24 on the gearbox torque input plate 5.26, so that the bronze wear ring 5.25 is limited to the gearbox torque input plate 5.26 and keep it around the gear box.
  • Torque input disk 5.26 axis rotation of one degree of freedom, gear box 5.15 and bronze wear ring 5.25 Fixed connection through the gear box fixing bolt 5.14, as shown in Figure 9;
  • the pedestal torque output dial 2.10 and the gearbox torque input disc 5.26 are evenly mounted with six wire rope joint bearings 3.4 and a wire rope joint bearing 2, respectively, and the wire rope joint bearing 3.4 passes through the joint bearing end cover 2.7 is fixed on the base torque output turntable 2.10, the joint bearing end cover 2.7 is fixed by the bearing end cover fixing screw 2.8; the wire rope joint bearing 3.4 is provided with a wire rope connecting chuck 3.6, the torque transmission wire rope 3.3 The wire rope connecting chuck 3.6 is mounted on the wire rope end joint bearing 3.4.
  • the wire rope connecting chuck 3.6 has a certain taper, and the torque transmission wire rope 3.3 can be automatically stuck by deformation, and the wire rope joint bearing 2 is in the gear box torque input plate.
  • the installation method and internal setting on 5.26 are the same as the wire rope joint bearing 3.4.
  • the two torque transmission wire ropes 3.3 are respectively installed on the wire rope joint bearing 3.4 and the wire rope joint bearing two, and the base torque output turntable 2.10
  • the torque transmission wire rope 3.3 rotates with the base torque output dial 2.10
  • An outer base composition torque output is passed up the outer structure is completed torque.
  • the wire rope joint bearing 3.4 and the core of the wire rope joint bearing 2 are on the same plane, and the center points of the universal joint 1 and the universal joint 2 respectively and the wire rope joint bearing 1 and the wire rope joint bearing 2
  • the center of the ball is in the same plane to meet the geometric requirements of the motion of the mechanism
  • the gearbox lower torque output mechanism includes a gearbox lower torque output shaft 5.2 mounted on the top gear housing 5.15 via a bearing E 5.1 and a bearing F 5.3, the gearbox
  • the lower torque output shaft 5.2 is drilled with two through holes for mounting the forearm 6.4 and the secondary forearm 6.5;
  • the gearbox on the torque output mechanism includes a torque output shaft 5.8 on the top gearbox, and the torque output shaft 5.8 on the top gearbox is mounted on the top gear housing 5.15 via a bearing G 5.9 and a bearing H 5.10; A wire reel 5.7 is provided on the torque output shaft 5.8 on the top gearbox.
  • the gearbox torque input shaft 5.19 is mounted with a bevel gear C 5.12
  • the torque output shaft 5.8 of the gearbox is mounted with a bevel gear B 5.11
  • the bevel gear C 5.12 and the gear B 5.11 are meshed
  • the gearbox torque is The torque on the input shaft 5.19 is transmitted by the bevel gear C 5.12, the bevel gear B 5.11 and the torque output shaft 5.8 on the top gearbox to the wire reel 5.7 to rotate it.
  • a bevel gear D 5.13 is mounted on the gearbox torque input disk 5.26, and a bevel gear A5.4 is mounted on the top gearbox lower torque output shaft 5.2.
  • the gear box 5.15 is also equipped with a wire rope guiding device 5.5, a wire rope positioning device 5.6 and three even points. Cloth wire rope pull ring 6.3.
  • Figure 10 is an exploded view of the wire rope guiding device, including the wire rope guiding device mounting seat 5.5.1, the hollow rotating shaft 5.5.4, the pulley block fixing seat 5.5.5, the hollow rotating shaft 5.5.4 through the bearing K5.5.2, the bearing L5.5.3 and the shaft retaining ring C 5.5.10 are fixed on the wire rope guide mounting seat 5.5.1, and the pulley block fixing seat 5.5.5 is mounted on the hollow rotating shaft 5.5.4 and rotates therewith, the pulley block is fixed Mounted on the seat 5.5.5 with four evenly tangential pulleys A5.5.6 and wire rope limit block 5.5.7, the pulley A5.5.6 and the wire rope limit block 5.5.7 through the pulley fixing bolt 5.5.8 and The nut and washer 5.5.9 are mounted on the pulley block mount 5.5.5.
  • the four tangent pulleys A5.5.6 are each a quarter circle of the pulley A, and the wire rope limit block 5.5.7 can be Limit the wire rope.
  • the wire rope is used to force the wire rope limit block 5.5.7, and the wire rope limit block 5.5.7 is rotated to rotate the hollow shaft 5.5.4, thereby adjusting the pulley A5.5.6.
  • the angle is such that the direction is consistent with the wire rope.
  • Figure 11 shows the exploded view of the top wire rope locating device.
  • the two pulleys B 5.6.1 are fixed on the wire rope locator mount 5.6.3 with the pulley fixing pin 5.6.2.
  • the rope groove of the pulley B 5.6.1 is One-half round.
  • the boom includes a front arm 6.4 and a front forearm 6.5.
  • the rear end of the front arm 6.4 and the front forearm 6.5 are mounted on the lower part of the torque output shaft 5.2 under the top gear box, and the wrist is mounted on the front end.
  • a driving motor mounting platform 6.2 wherein the wrist driving motor mounting platform 6.2 is mounted with a wrist driving motor 6, and the front arm 6.4, the auxiliary front arm 6.5 and the wrist driving motor form a parallelogram, thereby ensuring the posture of the wrist;
  • the driving motor drives the robot arm end tool 7 to operate on the 8 working objects;
  • the front end of the front arm 6.4 is also connected with a wire rope, and the other end of the wire rope first passes through a circle formed by four tangent pulleys A5.5.6 on the wire rope guiding device 5.5.
  • the hole passes through the hollow shaft 5.5.4, and then passes through the circular hole formed by the rope groove of the pulley B5.6.1, and finally is wound on the steel wire reel 5.7, and the telescopic driving boom of the steel wire swings up and down;
  • the torque transmission wire rope passing through the torque input disk 2.16 of the top gear box 4 passes through the wire rope pull ring 6.3 on the top gear box and is connected to the wire rope drive 1 mounted on the frame.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)

Abstract

一种索杆复合驱动的并联码垛机器人，包括机架，该机架上设有基座驱动机构（2），该基座驱动机构（2）上安装有转矩传输机构（3），该转矩传输机构（3）顶端安装有顶部齿轮箱（5），该顶部齿轮箱（5）上活动连接有吊臂（6），吊臂（6）的活动端头上还设有机械臂末端工具用于操作工作对象，还包括3个钢丝绳驱动器（1）和对应的三根钢丝绳（4），该3个钢丝绳驱动器（1）位于机架上，均匀围绕分布在基座驱动机构（2）周围。该并联码垛机器人能实现较大工作空间的码垛作业，且具有刚度大、承载能力强、安全性强、误差小、运动速度高，轨迹灵活的优点。

Description

一种索杆复合驱动的并联码垛机器人 技术领域
本专利涉及工业机器人领域，特别是一种索杆复合驱动的并联码垛机器人。
背景技术
随着机械自动化水平的提高，码垛机器人在机床下料、自动装配流水线、搬运码垛、集装箱等自动搬运作业领域的应用日益广泛。现广泛使用的码垛机器人是以关节型码垛机器人为代表的串联码垛机器人。以关节型码垛机器人为例，其具有结构紧凑、动作灵活、占地面积小的优点，但开链式串联码垛机器人具有机器人手臂重量大、惯量大、关节累积误差等问题，难以做到高速重载的要求。
发明内容
本发明针对串联码垛机器人的确缺陷和不足，提供一种索杆复合驱动的并联码垛机器人。本发明的驱动电机都安装在机架上，能克服现有码垛机器人机构中电机安装在其铰链处、导致的手臂笨重、惯量大的问题；本发明还采用柔索并联机构，避免了传统开链式串联码垛机器人刚性差、关节误差累积等问题。
本发明采用的技术方案如下：
一种索杆复合驱动的并联码垛机器人，包括机架，其特征在于：所述机架上设有基座驱动机构，所述基座驱动机构上安装有转矩传输机构，所述转矩传输机构顶端安装有顶部齿轮箱，所述顶部齿轮箱上活动连接有吊臂，吊臂的活动端头上还设有机械臂末端工具用于操作工作对象，还包括3个钢丝绳驱动器和对应的三根钢丝绳，所述3个钢丝绳驱动器位于机架上，均匀围绕分布在基座驱动机构周围，所述基座机构包括基座驱动内转矩结构和基座驱动外转矩结构，所述基座驱动内转矩结构和基座驱动外转矩结构分别由驱动电机驱动产生内转矩外转矩，所述钢丝绳依次穿在基座驱动外转矩机构、转矩传输机构、顶部齿轮箱到达钢丝绳驱动器上，所述钢丝绳驱动器驱动钢丝绳传递外转矩到顶部齿轮箱，所述内转矩经转矩传输机构到顶部齿轮箱，经过顶部齿轮箱转换驱动前臂的转动与起吊动作，达到采用柔索与连杆复合驱动实现整个机器人执行搬运码垛动作。
所述基座驱动机构包括基座，所述基座的上方设有基座内转矩输出轴，所述基座的下方设有基座外转矩传输轴；所述基座外转矩传输轴上方固定至基座内，所述基座内转矩输出轴下方固定在基座外转矩传输轴内；所述基座内转矩输出轴上还安装有齿轮B，还包括驱动电机A，所述驱动电机A的输出轴上设有齿轮A，所述齿轮A和齿轮B相啮合，所述驱动电 机A经齿轮A和齿轮B驱动基座内转矩输出轴；
所述基座外转矩传输轴下方固定安装有基座转矩输出盘；所述基座外转矩传输轴上还安装有齿轮D；还包括驱动电机B，所述述驱动电机B安装在基座一侧，所述驱动电机B的输出轴上设有齿轮C，所述齿轮C和齿轮D相啮合，所述驱动电机B经齿轮C和齿轮D驱动基座外转矩输出轴，而基座外转矩传输轴带动安装在其下方的基座转矩输出转盘转动；
所述基座内转矩输出轴和基座外转矩输出轴同轴独自转动相互不受干扰，按照传统搬运码垛作业的工作环境，基座驱动机构的两路转矩输出轴轴线与水平面夹角为四十五度，达到工作空间的使用率最大化。
所述转矩传输机构包括双万向联轴器中间轴，双万向联轴器中间轴的下方和上方分别设有万向联轴节一和万向联轴节二，所述下方万向联轴节一另一端连接基座内转矩传输轴，所述上方万向联轴节二另一端连接顶部齿轮箱的转矩输入轴，将基座内转矩传输轴的内转矩沿双万向联轴器中间轴向上传递。
所述顶部齿轮箱包括齿轮箱体，还包括位于齿轮箱体内的齿轮箱转矩输入机构、齿轮箱上转矩输出机构、齿轮箱下转矩输出机构；
所述齿轮箱转矩输入机构包括齿轮箱转矩输入轴以及齿轮箱转矩输入盘，所述齿轮箱转矩输入轴固定在齿轮箱转矩输入盘内；所述齿轮箱转矩输入盘上还设有青铜耐磨环以及青铜耐磨环限位环，通过青铜耐磨环限位环将青铜耐磨环限定在齿轮箱转矩输入盘上，保留其绕齿轮箱转矩输入盘轴线转动一个自由度；齿轮箱体和青铜耐磨环固定连接；
所述基座转矩输出转盘和所述齿轮箱转矩输入盘上还分别均匀安装有六个钢丝绳关节轴承一和钢丝绳关节轴承二，所述钢丝绳关节轴承一通过关节轴承端盖固定在基座转矩输出转盘上，所述关节轴承端盖通过轴承端盖固定螺钉进行固定；所述钢丝绳关节轴承一内设有钢丝绳连接卡头，转矩传输钢丝绳通过钢丝绳连接卡头安装至钢丝绳端关节轴承上，钢丝绳连接卡头具有一定锥度，可利用变形将转矩传输钢丝绳自动卡死，所述钢丝绳关节轴承二在齿轮箱转矩输入盘上的安装方式以及内部设置同钢丝绳关节轴承一；六根转矩传输钢丝绳两端分别安装到钢丝绳关节轴承一和钢丝绳关节轴承二内，基座转矩输出转盘在驱动电机B驱动下转动时，所述转矩传输钢丝绳随基座转矩输出转盘转动，完成外转矩的向上传递。
所述的钢丝绳关节轴承一和钢丝绳关节轴承二的球心在同一平面上，保证转矩传输钢丝绳的竖直，且万向联轴节一和万向联轴节二的中心点分别和钢丝绳关节轴承一和钢丝绳关节轴承二的球心在同一平面，以满足机构运动的几何要求
所述齿轮箱下转矩输出机构包括齿轮箱下转矩输出轴，所述齿轮箱下转矩输出轴下部钻有两个通孔用于安装前臂与副前臂；
所述齿轮箱上转矩输出机构包括顶部齿轮箱上转矩输出轴，所述顶部齿轮箱上转矩输出轴上设有钢丝卷筒，
所述齿轮箱转矩输入轴上安装有锥齿轮C、所述齿轮箱上转矩输出轴上安装有锥齿轮B，锥齿轮C和齿轮B相啮合，齿轮箱转矩输入轴上的转矩通过锥齿轮C、锥齿轮B与顶部齿轮箱上转矩输出轴传至钢丝卷筒带动其旋转。
所述齿轮箱转矩输入盘上安装有锥齿轮D，所述顶部齿轮箱下转矩输出轴上安装有锥齿轮A，所述锥齿轮D和锥齿轮A相啮合，齿轮箱转矩输入盘上的转矩传通过锥齿轮D和锥齿轮A传输至顶部齿轮箱下转矩输出轴上，驱动其旋转。
所述齿轮箱体还安装有钢丝绳导向装置、钢丝绳定位装置以及三个均匀分布的钢丝绳拉环。
所述钢丝绳导向装置包括钢丝绳导向装置安装座、空心转轴、滑轮组固定座，所述空心转轴固定在钢丝绳导向装置安装座上，所述滑轮组固定座安装在空心转轴上并随其一起转动，所述滑轮组固定座上安装有均匀分布的四个相切的滑轮A与钢丝绳限位块，所述滑轮A与钢丝绳限位块通过滑轮固定螺栓与螺母与垫圈安装在滑轮组固定座上，所述四个相切的滑轮A的每个滑轮A的绳槽均为四分之一圆，钢丝绳限位块可对钢丝绳进行限位，当钢丝绳角度发生变化时，钢丝绳对钢丝绳限位块以作用力拨动钢丝绳限位块使空心转轴旋转，从而调整滑轮A的角度使其方向与钢丝绳保证一致。
所述吊臂包括前臂与副前臂，所述前臂与副前臂后端安装在顶部齿轮箱下转矩输出轴下部，前端安装有腕部驱动电机安装平台，所述腕部驱动电机安装平台上安装有腕部驱动电机，所述前臂、副前臂与腕部驱动电机安装平台构成平行四边形，从而保证了腕部的姿态；所述前臂前端还连接有钢丝绳，所述钢丝绳另一端先通过钢丝绳导向装置上的四个相切的滑轮A构成的圆孔并穿过空心转轴，再通过滑轮B的绳槽构成的圆孔，最终绕在钢丝卷筒上，通过该钢丝绳的伸缩驱动吊臂上下摆动；
所述转矩传输钢丝绳穿过从钢丝绳关节轴二出来后绳经过顶部齿轮箱上的钢丝绳拉环后连接安装在机架上的钢丝绳驱动器。
本发明突出优点在于：
1)、通过柔索驱动顶部齿轮箱与转矩传出机构做二自由度的空间运动，能实现较大工作 空间的码垛作业。
2)、具有柔索并联机构、刚度大、承载能力强、安全性强、累积误差小、运动速度高，轨迹灵活多变的优点，
3)、利用转矩传输机构将动力装置转至基座，充分减少了机器运动部分的质量。机器运动惯量小、动力学性能好，更能满足高速重载搬运码垛的要求。
4)、设计的机器人具有较好的动力学性能，能较好的满足高速重载的搬运码垛要求。
附图说明
图1是索杆复合驱动的并联码垛机器人工作效果图；
图2是索杆复合驱动的并联码垛机器人工作效果图；
图3是基座驱动机构爆炸视图；
图4是基座驱动部分内转轴结构图；
图5是基座驱动部分外转轴结构图；
图6是转矩传输机构结构示意图；
图7是转矩传输钢丝绳端连接装置结构示意图；
图8是顶部齿轮箱结构示意图；
图9是顶部齿轮箱部分构件爆炸视图；
图10是顶部齿轮箱钢丝导向装置爆炸视图；
图11是顶部钢丝绳定位装置爆炸视图；
图12是吊臂结构示意图。
图中：1、钢丝绳驱动器；2、底部驱动机构；3、转矩传输机构；4、钢丝绳；
5、顶部齿轮箱；6、吊臂；7、机械臂末端工具；8、工作对象；
2.1驱动电机A；2.2齿轮A；2.3齿轮B；2.4基座内转矩传输轴；2.5驱动电机B；2.6齿轮C；2.7关节轴承端盖；2.8轴承端盖固定螺钉；2.9基座转矩输出转盘固定螺钉；2.10基座转矩输出转盘；2.11基座外转矩传输轴；2.12基座；
2.13轴用挡圈A；2.14轴承A；2.15轴承B；2.16轴用挡圈B；2.17轴承C；2.18轴承D；
3.1双万向联轴器中间轴；3.2转矩输入万向联轴节；3.3转矩传输钢丝绳；3.4钢丝绳端关节轴承；3.5转矩输出万向联轴节；3.6钢丝绳连接卡头；
5.1轴承E；5.2顶部齿轮箱下转矩输出轴；5.3轴承F；5.4锥齿轮A；5.5钢丝绳导向 装置；5.6钢丝绳定位装置；5.7钢丝卷筒；5.8顶部齿轮箱上转矩输出轴；5.9轴承G；5.10轴承H；5.11锥齿轮B；5.12锥齿轮C；5.13锥齿轮D；5.14齿轮箱体固定螺栓；5.15顶部齿轮箱体；5.16钢丝绳拉环固定螺钉；5.17钢丝绳拉环铰接处；5.18钢丝绳拉环；5.19齿轮箱转矩输入轴；5.20轴用挡圈C；5.21轴承I；5.22青铜耐磨环限位环固定螺钉；5.23轴承J；5.24青铜耐磨环限位环；5.25青铜耐磨环；5.26齿轮箱转矩输入盘；5.27关节轴承端盖；
5.5.1钢丝绳导向装置安装座；5.5.2轴承K；5.5.3轴承L；5.5.4空心转轴；5.5.5滑轮组固定座；5.5.6滑轮A；5.5.7钢丝绳限位块；5.5.8滑轮固定螺栓；5.5.9螺母与垫圈；5.5.10轴用挡圈C；
5.6.1滑轮B；5.6.2滑轮固定销轴；5.6.3钢丝绳定位器安装座；
6.1腕部驱动电机；6.2腕部驱动电机安装平台；6.3钢丝绳拉环；6.4前臂；6.5副前臂。
具体实施方式
下面结合附图和实施例对本发明做进一步的说明。
如图1和图2所示，一种索杆复合驱动的并联码垛机器人，包括机架，所述机架上设有基座驱动机构2，所述基座驱动机构2上安装有转矩传输机构3，所述转矩传输机构3顶端安装有顶部齿轮箱5，所述顶部齿轮箱5上活动连接有吊臂6，吊臂的活动端头上还设有机械臂末端工具用于操作工作对象，还包括3个钢丝绳驱动器1和对应的三根钢丝绳4，所述3个钢丝绳驱动器1位于机架上，均匀围绕分布在基座驱动机构2周围，所述基座机构2包括基座驱动内转矩结构和基座驱动外转矩结构，所述基座驱动内转矩结构和基座驱动外转矩结构分别由驱动电机驱动产生内转矩外转矩，所述钢丝绳依次穿在基座驱动外转矩机构、转矩传输机构3、顶部齿轮箱5到达钢丝绳驱动器上，所述转矩传输机构3包扩外传距传输机构与内转矩传输机构，所述外传距传输机构通过六根钢丝绳3.3将转矩从基座转矩输出转盘2.10传递至顶部齿轮箱5，所述内转矩经转矩传输机构将转矩从基座内转矩传输轴2.4传递至顶部齿轮箱5，经过顶部齿轮箱5转换驱动前臂6的转动与起吊动作达到采用柔索与连杆复合驱动实现整个机器人执行搬运码垛动作。
如图3所示是本发明基座驱动机构的爆炸视图，所述基座驱动机构2包括基座2.12，所述基座2.12的上方设有基座内转矩输出轴2.4，所述基座2.12的下方设有基座外转矩传输轴2.11；所述基座外转矩传输轴2.11上方通过轴用挡圈B 2.16、轴承C 2.17、轴承D 2.18固定 至基座2.12内，如图5所示；所述基座内转矩输出轴2.4下方通过通过轴用挡圈A 2.13、轴承A2.14、轴承B2.15固定至基座外转矩传输轴2.11内部，如图4所示；所述基座内转矩输出轴2.4上还安装有齿轮B2.3，还包括驱动电机A2.1，所述驱动电机A2.1的输出轴上设有齿轮A2.2，所述齿轮A2.2和齿轮B2.3相啮合，所述驱动电机A2.1经齿轮A2.2和齿轮B2.3驱动基座内转矩输出轴2.4；
所述基座外转矩传输轴2.11下方通过螺钉2.9固定安装有基座转矩输出盘2.10；所述基座外转矩传输轴2.11上还安装有齿轮D；还包括驱动电机B2.5，所述述驱动电机B2.5安装在基座2.12一侧，所述驱动电机B2.5的输出轴上设有齿轮C2.6，所述齿轮C2.6和齿轮D相啮合，所述驱动电机B2.2经齿轮C2.6和齿轮D驱动基座外转矩输出轴2.11，而基座外转矩传输轴2.11带动安装在其下方的基座转矩输出转盘2.10转动；
所述基座内转矩输出轴2.4和基座外转矩输出轴2.11同轴独自转动相互不受干扰，按照传统搬运码垛作业的工作环境，基座驱动机构的两路转矩输出轴轴线与水平面夹角为四十五度，达到工作空间的使用率最大化。
图6是本发明转矩传输机构结构示意图，包括双万向联轴器中间轴3.1，双万向联轴器中间轴3.1的下方和上方分别设有万向联轴节一3.2和万向联轴节二，所述下方万向联轴节一3.2另一端连接基座内转矩传输轴2.4，所述上方万向联轴节二另一端连接顶部齿轮箱4的转矩输入轴5.19，将基座内转矩传输轴2.4的内转矩沿双万向联轴器中间轴3.1向上传递。
所述顶部齿轮箱结构4安装在转矩传输机构3顶端，如图12所示，万向联轴节二的一端与双万向联轴器中间轴3.1相连，另一端与齿轮箱转矩输入轴5.19相连，将转矩传递至齿轮箱转矩输入轴机构；
如图8至图11是齿轮箱结构相关示意图，所述齿轮箱结构包括齿轮箱体5.15，还包括位于齿轮箱体5.15内的齿轮箱转矩输入机构、齿轮箱上转矩输出机构、齿轮箱下转矩输出机构以及钢丝绳导向装置5.5、钢丝绳定位装置5.6；
所述齿轮箱转矩输入机构安装在齿轮箱体5.15上，包括齿轮箱转矩输入轴5.19以及齿轮箱转矩输入盘5.26，所述齿轮箱转矩输入轴5.19通过轴用挡圈C5.20、轴承I 5.21、轴承J 5.23固定在齿轮箱转矩输入盘5.26内；所述齿轮箱转矩输入盘5.26上还设有青铜耐磨环5.25以及青铜耐磨环限位环5.24，利用青铜耐磨环限位环固定螺钉5.22将青铜耐磨环限位环5.24安装在齿轮箱转矩输入盘5.26，从而将青铜耐磨环5.25限定在齿轮箱转矩输入盘5.26上紧保留其绕齿轮箱转矩输入盘5.26轴线转动一个自由度，齿轮箱体5.15和青铜耐磨环5.25 通过齿轮箱体固定螺栓5.14固定连接，如图9所示；
所述基座转矩输出转盘2.10和所述齿轮箱转矩输入盘5.26上还分别均匀安装有六个钢丝绳关节轴承一3.4和钢丝绳关节轴承二，所述钢丝绳关节轴承一3.4通过关节轴承端盖2.7固定在基座转矩输出转盘2.10上，所述关节轴承端盖2.7通过轴承端盖固定螺钉2.8进行固定；所述钢丝绳关节轴承一3.4内设有钢丝绳连接卡头3.6，转矩传输钢丝绳3.3通过钢丝绳连接卡头3.6安装至钢丝绳端关节轴承3.4上，钢丝绳连接卡头3.6具有一定锥度，可利用变形将转矩传输钢丝绳3.3自动卡死，所述钢丝绳关节轴承二在齿轮箱转矩输入盘5.26上的安装方式以及内部设置同钢丝绳关节轴承一3.4，如图7所示，六根转矩传输钢丝绳3.3两端分别安装到钢丝绳关节轴承一3.4和钢丝绳关节轴承二内，基座转矩输出转盘2.10在驱动电机B2.2驱动下转动时，所述转矩传输钢丝绳3.3随基座转矩输出转盘2.10转动，组成基座转矩外输出结构完成外转矩的向上传递。
所述的钢丝绳关节轴承一3.4和钢丝绳关节轴承二的球心在同一平面上，且万向联轴节一和万向联轴节二的中心点分别和钢丝绳关节轴承一和钢丝绳关节轴承二的球心在同一平面，以满足机构运动的几何要求
所述齿轮箱下转矩输出机构包括齿轮箱下转矩输出轴5.2，所述齿轮箱下转矩输出轴5.2通过轴承E 5.1与轴承F 5.3安装在顶部齿轮箱体5.15上，所述齿轮箱下转矩输出轴5.2下部钻有两个通孔用于安装前臂6.4与副前臂6.5；
所述齿轮箱上转矩输出机构包括顶部齿轮箱上转矩输出轴5.8，所述顶部齿轮箱上转矩输出轴5.8通过轴承G 5.9与轴承H 5.10安装在顶部齿轮箱体5.15上；所述述顶部齿轮箱上转矩输出轴5.8上设有钢丝卷筒5.7，
所述齿轮箱转矩输入轴5.19上安装有锥齿轮C 5.12、所述齿轮箱上转矩输出轴5.8上安装有锥齿轮B 5.11，锥齿轮C 5.12和齿轮B 5.11相啮合，齿轮箱转矩输入轴5.19上的转矩通过锥齿轮C 5.12、锥齿轮B 5.11与顶部齿轮箱上转矩输出轴5.8传至钢丝卷筒5.7带动其旋转。
所述齿轮箱转矩输入盘5.26上安装有锥齿轮D 5.13，所述顶部齿轮箱下转矩输出轴5.2上安装有锥齿轮A5.4，所述锥齿轮D 5.13和锥齿轮A5.4相啮合，齿轮箱转矩输入盘5.26上的转矩传通过锥齿轮D 5.13和锥齿轮A5.4传输至顶部齿轮箱下转矩输出轴5.2上，驱动其旋转。
所述齿轮箱体5.15还安装有钢丝绳导向装置5.5、钢丝绳定位装置5.6以及三个均匀分 布的钢丝绳拉环6.3。
如图10所示为钢丝绳导向装置的爆炸视图，包括钢丝绳导向装置安装座5.5.1、空心转轴5.5.4、滑轮组固定座5.5.5，所述空心转轴5.5.4通过轴承K5.5.2、轴承L5.5.3与轴用挡圈C 5.5.10固定在钢丝绳导向装置安装座5.5.1上，所述滑轮组固定座5.5.5安装在空心转轴5.5.4上并随其一起转动，所述滑轮组固定座5.5.5上安装有均匀分布的四个相切的滑轮A5.5.6与钢丝绳限位块5.5.7，所述滑轮A5.5.6与钢丝绳限位块5.5.7通过滑轮固定螺栓5.5.8与螺母与垫圈5.5.9安装在滑轮组固定座5.5.5上，所述四个相切的滑轮A5.5.6每个滑轮A的绳槽均为四分之一圆，钢丝绳限位块5.5.7可对钢丝绳进行限位，当钢丝绳角度发生变化时，钢丝绳对钢丝绳限位块5.5.7以作用力，拨动钢丝绳限位块5.5.7使空心转轴5.5.4旋转，从而调整滑轮A5.5.6的角度使其方向与钢丝绳保证一致。
如图11所示顶部钢丝绳定位装置爆炸视图，图中用滑轮固定销5.6.2将两个滑轮B 5.6.1固定在钢丝绳定位器安装座5.6.3上，滑轮B 5.6.1的绳槽为二分之一圆。
如图12所示是吊臂结构示意图，所述吊臂包括前臂6.4与副前臂6.5，所述前臂6.4与副前臂6.5后端安装在顶部齿轮箱下转矩输出轴5.2下部，前端安装有腕部驱动电机安装平台6.2，所述腕部驱动电机安装平台6.2上安装有腕部驱动电机6，所述前臂6.4、副前臂6.5与腕部驱动电机构成平行四边形，从而保证了腕部的姿态；驱动电机驱动机械臂末端工具7对8工作对象进行操作；所述前臂6.4前端还连接有钢丝绳，所述钢丝绳另一端先通过钢丝绳导向装置5.5上的四个相切的滑轮A5.5.6构成的圆孔并穿过空心转轴5.5.4，再通过滑轮B5.6.1的绳槽构成的圆孔，最终绕在钢丝卷筒5.7上，该钢丝绳的伸缩驱动吊臂上下摆动；
穿过顶部齿轮箱4转矩输入盘2.16上的转矩传输钢丝绳经过顶部齿轮箱上的钢丝绳拉环6.3后连接安装在机架上的钢丝绳驱动器1。

Claims (8)

  1. 一种索杆复合驱动的并联码垛机器人，包括机架，其特征在于：所述机架上设有基座驱动机构，所述基座驱动机构上安装有转矩传输机构，所述转矩传输机构顶端安装有顶部齿轮箱，所述顶部齿轮箱上活动连接有吊臂，吊臂的活动端头上还设有机械臂末端工具用于操作工作对象，还包括3个钢丝绳驱动器和对应的三根钢丝绳，所述3个钢丝绳驱动器位于机架上，均匀围绕分布在基座驱动机构周围，所述基座机构包括基座驱动内转矩结构和基座驱动外转矩结构，所述基座驱动内转矩结构和基座驱动外转矩结构分别由驱动电机驱动产生内转矩外转矩，所述转矩传输机构包括外传距传输机构与内转矩传输机构，所述外传距传输机构通过六根钢丝绳将转矩从基座转矩输出转盘传递至顶部齿轮箱，所述内转矩经转矩传输机构将转矩从基座内转矩传输轴传递至顶部齿轮箱，经过顶部齿轮箱转换驱动前臂的转动与起吊动作，达到采用柔索与连杆复合驱动实现整个机器人执行搬运码垛动作。
  2. 根据权利要求1所述的一种索杆复合驱动的并联码垛机器人，其特征在于：所述基座驱动机构包括基座，所述基座的上方设有基座内转矩输出轴，所述基座的下方设有基座外转矩传输轴；所述基座外转矩传输轴上方固定至基座内，所述基座内转矩输出轴下方固定在基座外转矩传输轴内；所述基座内转矩输出轴上还安装有齿轮B，还包括驱动电机A，所述驱动电机A的输出轴上设有齿轮A，所述齿轮A和齿轮B相啮合，所述驱动电机A经齿轮A和齿轮B驱动基座内转矩输出轴；
    所述基座外转矩传输轴下方固定安装有基座转矩输出盘；所述基座外转矩传输轴上还安装有齿轮D；还包括驱动电机B，所述述驱动电机B安装在基座一侧，所述驱动电机B的输出轴上设有齿轮C，所述齿轮C和齿轮D相啮合，所述驱动电机B经齿轮C和齿轮D驱动基座外转矩输出轴，而基座外转矩传输轴带动安装在其下方的基座转矩输出转盘转动；
    所述基座内转矩输出轴和基座外转矩输出轴同轴独自转动相互不受干扰，按照传统搬运码垛作业的工作环境，基座驱动机构的两路转矩输出轴轴线与水平面夹角为四十五度，达到工作空间的使用率最大化。
  3. 根据权利要求1所述的一种索杆复合驱动的并联码垛机器人，其特征在于：所述转矩传输机构包括双万向联轴器中间轴，双万向联轴器中间轴的下方和上方分别设有万向联轴节一和万向联轴节二，所述下方万向联轴节一另一端连接基座内转矩传输轴，所述上方万向联轴节二另一端连接顶部齿轮箱的转矩输入轴，将基座内转矩传输轴的内转矩沿双万向联轴器中间轴向上传递。
  4. 根据权利要求1所述的一种索杆复合驱动的并联码垛机器人，其特征在于：所述顶 部齿轮箱包括齿轮箱体，还包括位于齿轮箱体内的齿轮箱转矩输入机构、齿轮箱上转矩输出机构、齿轮箱下转矩输出机构；
    所述齿轮箱转矩输入机构包括齿轮箱转矩输入轴以及齿轮箱转矩输入盘，所述齿轮箱转矩输入轴固定在齿轮箱转矩输入盘内；所述齿轮箱转矩输入盘上还设有青铜耐磨环以及青铜耐磨环限位环，通过青铜耐磨环限位环将青铜耐磨环限定在齿轮箱转矩输入盘上，保留其绕齿轮箱转矩输入盘轴线转动一个自由度；齿轮箱体和青铜耐磨环固定连接；
    所述齿轮箱下转矩输出机构包括齿轮箱下转矩输出轴，所述齿轮箱下转矩输出轴下部钻有两个通孔用于安装前臂与副前臂；
    所述齿轮箱上转矩输出机构包括顶部齿轮箱上转矩输出轴，所述顶部齿轮箱上转矩输出轴上设有钢丝卷筒；
    所述齿轮箱转矩输入轴上安装有锥齿轮C、所述齿轮箱上转矩输出轴上安装有锥齿轮B，锥齿轮C和齿轮B相啮合，齿轮箱转矩输入轴上的转矩通过锥齿轮C、锥齿轮B与顶部齿轮箱上转矩输出轴传至钢丝卷筒带动其旋转；
    所述齿轮箱转矩输入盘上安装有锥齿轮D，所述顶部齿轮箱下转矩输出轴上安装有锥齿轮A，所述锥齿轮D和锥齿轮A相啮合，齿轮箱转矩输入盘上的转矩传通过锥齿轮D和锥齿轮A传输至顶部齿轮箱下转矩输出轴上，驱动其旋转；
  5. 根据权利要求1所述的一种索杆复合驱动的并联码垛机器人，其特征在于：所述齿轮箱体还安装有钢丝绳导向装置、钢丝绳定位装置以及三个均匀分布的钢丝绳拉环。
    所述钢丝绳导向装置包括钢丝绳导向装置安装座、空心转轴、滑轮组固定座，所述空心转轴固定在钢丝绳导向装置安装座上，所述滑轮组固定座安装在空心转轴上并随其一起转动，所述滑轮组固定座上安装有均匀分布的四个相切的滑轮A与钢丝绳限位块，所述滑轮A与钢丝绳限位块通过滑轮固定螺栓与螺母与垫圈安装在滑轮组固定座上，所述四个相切的滑轮A的每个滑轮A的绳槽均为四分之一圆，钢丝绳限位块可对钢丝绳进行限位，当钢丝绳角度发生变化时，钢丝绳对钢丝绳限位块以作用力拨动钢丝绳限位块使空心转轴旋转，从而调整滑轮A的角度使其方向与钢丝绳保证一致。
  6. 根据权利要求1所述的一种索杆复合驱动的并联码垛机器人，其特征在于：所述吊臂包括前臂与副前臂，所述前臂与副前臂后端安装在顶部齿轮箱下转矩输出轴下部，前端安装有腕部驱动电机安装平台，所述腕部驱动电机安装平台上安装有腕部驱动电机，所述前臂、副前臂与腕部驱动电机安装平台构成平行四边形，从而保证了腕部的姿态；所述前臂前端还连接有钢丝绳，所述钢丝绳另一端先通过钢丝绳导向装置上的四个相切的滑轮A构成 的圆孔并穿过空心转轴，再通过滑轮B的绳槽构成的圆孔，最终绕在钢丝卷筒上，通过该钢丝绳的伸缩驱动吊臂上下摆动；
  7. 根据权利要求2和4所述的一种索杆复合驱动的并联码垛机器人，其特征在于：所述基座转矩输出转盘和所述齿轮箱转矩输入盘上还分别均匀安装有六个钢丝绳关节轴承一和钢丝绳关节轴承二，所述钢丝绳关节轴承一通过关节轴承端盖固定在基座转矩输出转盘上，所述关节轴承端盖通过轴承端盖固定螺钉进行固定；所述钢丝绳关节轴承一内设有钢丝绳连接卡头，转矩传输钢丝绳通过钢丝绳连接卡头安装至钢丝绳端关节轴承上，钢丝绳连接卡头具有一定锥度，可利用变形将转矩传输钢丝绳自动卡死，所述钢丝绳关节轴承二在齿轮箱转矩输入盘上的安装方式以及内部设置同钢丝绳关节轴承一；六根转矩传输钢丝绳两端分别安装到钢丝绳关节轴承一和钢丝绳关节轴承二内，基座转矩输出转盘在驱动电机B驱动下转动时，所述转矩传输钢丝绳随基座转矩输出转盘转动，完成外转矩的向上传递。
  8. 根据权利要求7所述的一种索杆复合驱动的并联码垛机器人，其特征在于：所述的钢丝绳关节轴承一和钢丝绳关节轴承二的球心在同一平面上，保证转矩传输钢丝绳的竖直，且万向联轴节一和万向联轴节二的中心点分别和钢丝绳关节轴承一和钢丝绳关节轴承二的球心在同一平面，以满足机构运动的几何要求。
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