CN202592386U - Three-dimensional translation and one-dimensional rotation high-speed parallel robot - Google Patents

Abstract

The utility model discloses a three-dimensional translation and one-dimensional pivoted high-speed parallel robot belongs to industrial robot technical field. The robot comprises a robot mechanical body structure, a control system and a vision system; through the combination of the control system and the vision system, the robot mechanical body structure is controlled to achieve the required motion action. The utility model discloses the robot has three-dimensional translation and four degrees of freedom of one-dimensional pivoted, can realize high-speed automatic pickup and hierarchical the placing to the product, has high-speed, high acceleration motion ability, still has characteristics such as rigidity is good, the atress is even, positioning accuracy is high simultaneously.

Description

A high-speed parallel robot with three-dimensional translation and one-dimensional rotation

technical field

The utility model belongs to the technical field of industrial robots and relates to a high-speed parallel robot with three-dimensional translation and one-dimensional rotation. the

Background technique

With the continuous improvement of production efficiency and quality requirements for products in the fields of electronics, food, and medicine, higher requirements are placed on automatic transmission equipment on the product production line. The four-degree-of-freedom high-speed parallel robot is an important form of automatic transmission equipment, which can pick up and place products in different production lines in a high-speed, stable and clean manner. This kind of robot needs three degrees of freedom in translation to realize the transmission of products in space, and it should also have a degree of freedom in rotation to realize the picking of products with different postures. .

In the prior art, there are relatively few studies on automatic picking devices, especially fast picking robots with four degrees of freedom. U.S. Patent No. 4,976,582 discloses a spatially axisymmetric three-translational parallel mechanism, which includes three branch chains, and each branch chain includes two parts, an upper arm and a lower arm. The form of the lower arm of this type of mechanism is divided into two types, one is a single rod form, and the two ends of the rod are respectively connected to the upper arm and the moving platform through a Hooke hinge; the other is a parallelogram formed by double rods, and each rod has two ends The upper arm and the moving platform are respectively connected through a ball joint, wherein one end of the upper arm has only one degree of freedom of movement or rotation relative to the fixed frame, and the other end is connected with one end of the lower arm through a ball joint, thereby limiting the three-dimensional movement of the moving platform relative to the fixed platform. rotational degrees of freedom. The mechanism adopting this configuration has only three degrees of freedom of spatial translation, and cannot realize the rotation of the picking angle.

European patent 1084802 discloses a parallel four-degree-of-freedom robot, which includes four branch chains, and each branch chain is composed of a servo motor, an upper arm and a lower arm. The upper arm of the branch chain is connected to the output mechanism of the servo motor, and the servo motor is installed on a fixed platform; the lower arm of the branch chain is a parallelogram formed by two rods, and the two ends of each rod are connected with the upper arm and the moving platform through a ball joint; the moving platform is composed of three rods It consists of two rods connected with the lower arm of the branch chain through a ball joint and parallel to each other, and the third rod connects the two rods between the two rods for installing the pickup device. The moving platform has a rotational degree of freedom. Due to the special design of the robot's moving platform, the asymmetric installation of the branch chain and the motor results in uneven force between the robot branch chains, which has a certain impact on the high-speed movement and stability of the robot.

Contents of the invention

Aiming at the deficiencies of the above-mentioned prior art, the utility model provides a four-degree-of-freedom high-speed parallel robot, which has four degrees of freedom of three-dimensional translation and one-dimensional rotation, and can realize rapid picking and hierarchical placement of products, and can Combined with the vision system, the rotation angle of the moving platform is adjusted to realize the picking of products with different attitudes; the robot has high-speed, high-acceleration movement capabilities, and also has the characteristics of good rigidity, uniform force, and high positioning accuracy. the

In order to achieve the above object, the technical scheme adopted in the utility model is as follows:

A high-speed parallel robot with three-dimensional translation and one-dimensional rotation described in the utility model includes a robot mechanical body structure, a control system and a vision system. Through the combination of the control system and the vision system, the mechanical body structure of the robot is controlled to achieve the required motion.

The mechanical body structure of the robot includes a fixed platform, a driving mechanism, a branch chain and a moving platform. The fixed platform is used to install and fix the whole robot, so that the robot has a stable working environment; the driving mechanism drives the branch chain and the moving platform to realize four-degree-of-freedom movement; the four branch chains have the same structure and are arranged symmetrically and evenly, and the upper end of the branch chain is connected to the drive mechanism , the end is connected to the moving platform to realize the transmission process of the action; the moving platform has four degrees of freedom in three-dimensional movement and one-dimensional rotation through the coupling motion between the four branch chains, and the moving platform drives the end effector to realize four degrees of freedom in the movement space Movement, in which the three-dimensional translation is synchronized with the actual movement, and the one-dimensional rotation needs to be amplified by the amplification mechanism to achieve the actual required rotation angle. The four degrees of freedom of a high-speed parallel robot with three-dimensional translation and one-dimensional rotation of the utility model can realize high-speed and stable grasping and hierarchical placement of products.

The fixed platform is provided with mounting holes for the installation of the parallel robot and the positioning connection of the motor support frame; there are four motor support frames on the fixed platform, and the four motor support frames are installed axially symmetrically on the fixed platform. Upper and lower limit support plates with limit blocks and sensor mounting brackets with limit switches;

The driving mechanism includes a high-torque servo motor and a precision reducer, and the precision reducer adopts a flange shaft type.

The branch chain includes the main arm, the ball joint, the follower arm, the pull spring of the follower arm, the ball joint connector, the connection pin of the follower arm and the nut at the pin end; the four branch chains have the same structure and are evenly arranged axially symmetrically. The output flange of the precision reducer is connected to the driving mechanism, and the other end is connected to two parallel slave arms through two ball joints. The connecting pin and the pin end nut are fixedly connected, and the follower arm extension spring is hung on the corresponding pin end nut. The main arm of the branch chain adopts an I-shaped structure; the driven arm adopts a tubular structure, and the material is carbon fiber.

The parallelogram mechanism of the moving platform consists of a moving platform connecting plate, a moving platform bracket, a rotary joint, a bearing seat bracket, a pulley connecting frame and an end effector amplification mechanism; the two moving platform connecting plates are parallel to each other and are respectively connected to the corresponding branch chains. From the ball joint at the lower end of the swing arm; two parallel moving platform brackets are connected with two parallel moving platform connecting plates through the rotating joint to form a parallelogram structure of the moving platform; the rotating joints are installed and connected through sealed angular contact bearings.

The end effector amplification mechanism includes a small synchronous pulley, a large synchronous pulley, a synchronous belt and an end effector flange; the large synchronous pulley is fixedly installed on the moving platform bracket through the pulley connecting frame; the small synchronous pulley passes through the end effector The flange and the angular contact ball bearing are installed and connected on the support plate of the moving platform, so that the small synchronous pulley has a rotational movement relative to the platform support plate; the synchronous belt transmits the rotational movement between the two, so that the rotation angle of the flange of the end effector Up to ±180°, the end effector is installed on the end effector flange.

The control system includes a networked programmable controller, a dual bus, a high-speed IO expansion module and a servo controller. The control system takes the networked programmable controller as the core, and forms a network through dual buses and high-speed IO expansion modules. Among them, the programmable automation controller is used for logic processing and data operation and sends messages; the dual bus is used for data transmission between the networked programmable controller and the high-speed IO expansion module; the high-speed IO expansion module is used to receive the networked programmable controller Send out the message, and output the high-speed pulse to the servo controller, and also be responsible for the reading and output of other IO signals; the servo is used to complete the closed-loop control of the servo motor.

The vision system mainly includes a camera, an image processor and an external sensor. The external sensor is used to detect the picked product; the camera is used to collect the image of the picked product; the image processor processes the image of the checked product through smoothing filtering, contrast enhancement, edge extraction, binarization, etc., and the product standard template Carry out similarity matching, extract the coordinate value and deflection angle of the inspected product, and send it to the networked programmable controller through the network.

Effect and benefit of the present utility model are:

(1) This high-speed parallel robot has four degrees of freedom, which can realize three-dimensional translation and one-dimensional rotation in space, which improves the working ability of this type of robot; (2) The branch chain and motion platform of this high-speed parallel robot are symmetrical and even Arrangement, so that the mechanism has no singular position in space and uniform force, and improves the overall rigidity of the robot; (3) The high-speed parallel robot combines the control system with the vision system, so that the mechanical body structure of the robot can realize high-speed monitoring of products with different postures. Automatic picking and grading placement; (4) The high-speed parallel robot has real-time communication through the networked control system, so that the robot can have stable motion performance and precise positioning at high speed and high acceleration.

Description of drawings

Fig. 1 is an axial view of a high-speed parallel robot with three-dimensional translation and one-dimensional rotation of the present invention. the

Fig. 2 is a front view of a high-speed parallel robot with three-dimensional translation and one-dimensional rotation of the utility model.

Fig. 3 is a top view of a high-speed parallel robot moving platform with three-dimensional translation and one-dimensional rotation of the present invention.

Fig. 4 is a cross-sectional view of a high-speed parallel robot moving platform with three-dimensional translation and one-dimensional rotation of the present invention.

Fig. 5 is an axial view of a branch chain of a high-speed parallel robot with three-dimensional translation and one-dimensional rotation of the present invention.

Fig. 6 is a network structure diagram of a high-speed parallel robot with three-dimensional translation and one-dimensional rotation of the present invention.

In the figure: Ⅰ fixed platform, Ⅱ drive system, Ⅲ branch chain, Ⅳ moving platform parallelogram mechanism;

1 moving platform, 2 upper limit support plate, 3 ball joint, 4 upper limit block, 5 servo motor, 6 main arm,

7 pin end nut, 8 follower arm extension spring, 9 follower arm, 10 ball joint connector, 11 sensor mounting bracket,

12 reducer, 13 limit switch, 14 motor support frame, 15 moving platform connecting plate, 16 rotary joint,

17 moving platform bracket, 18 end effector flange, 19 large synchronous pulley, 20 moving platform bracket,

25 bearing brackets, 21 angular contact ball bearings, 22 small synchronous pulleys, 23 pulley connectors, 24 synchronous belts,

26 Slave arm connection pin.

Detailed ways

Describe the specific embodiment of the utility model in detail below in conjunction with technical scheme and accompanying drawing. the

A high-speed parallel robot with three-dimensional translation and one-dimensional rotation of the utility model includes three parts: the robot mechanical body structure, the control system and the vision system; through the combination of the control system and the vision system, the mechanical body structure of the robot is controlled to achieve the required movement action.

The embodiment of the mechanical body structure of the robot

As shown in Figure 1, the mechanical body structure of the robot consists of a fixed platform I, a driving mechanism II, a branch chain III, and a moving platform IV. It is driven by an electronic control system to realize three-dimensional translation and one-dimensional rotation of the moving platform IV. Accurate picking of products by the system.

The servo motor 5 fixedly installed on the motor support frame 14 transmits the motion to the active arm 6 through the output flange on the reducer 12; the driving device II provides a rotational degree of freedom for the active arm 6 connected to it, and the active arm 6 passes through The ball hinge 3 drives the driven arm 9 to move, and the parallelogram mechanism composed of the driven arm 9 and the ball hinge 3 transmits the motion to the moving platform 15; the moving platform IV realizes three-dimensional movement and one-dimensional rotation through the coupling motion between four branch chains Wherein, the mutual shift between the moving platform supports 17 of the parallelogram structure of the moving platform drives the large synchronous belt pulley 19 which is fixedly installed between the moving platform supports 17 to move synchronously, so that the large synchronous belt pulley 19 and the small synchronous belt pulley The installation position of 22 produces a staggered angle of 45°, connected by the timing belt 24, the rotation angle of the small synchronous pulley 22 is enlarged, and the rotation angle of the end effector flange 18 synchronized with the small synchronous pulley 22 reaches ±180° °.

Implementation of the control system

The control system takes the networked programmable controller as the control core, and forms a network through dual buses and high-speed IO expansion modules. The real-time communication of the dual buses completes the data exchange between the networked programmable controllers and the high-speed IO expansion modules; networked programmable control The controller puts the calculated operating data of each servo motor into the message. When passing through each high-speed IO expansion module, the high-speed IO expansion module obtains the operating information of each servo motor. After the message passes through all high-speed IO expansion modules Return to the programmable automation controller to complete a cycle of communication; the high-speed IO expansion module receives the next movement position, speed and acceleration information of the servo motor in each communication cycle, converts it into high-speed pulse output, and finally controls each The servo motor runs.

Implementation of the vision system

The vision system detects the picked product through an external sensor, triggers the camera to collect images, and the collected images are processed by the image processor for smoothing, contrast enhancement, edge extraction, binarization, etc., and are similar to the product standard template Matching, if the matching is successful, extract the coordinates of the image and the information of the deflection angle, and then transmit the information to the programmable automation controller through the network.

Overall operation process of the utility model

As shown in Figure 6, a high-speed parallel robot with three-dimensional translation and one-dimensional rotation of the present invention adopts a networked control structure combining a networked programmable controller and a high-speed IO expansion module. The product image collected by the camera is matched with the standard template, and then the product coordinate value and deflection angle information are extracted and sent to the networked programmable controller. And convert the calculation result into pulse value, package it into a message and send it to the high-speed IO expansion module. The high-speed IO expansion module receives a new message in each communication cycle, extracts the control information, and controls the output of the four servo motors The displacement and running direction ensure that the moving platform completes the high-speed automatic picking and grading of products.

Claims (1)

1. A high-speed parallel robot with three-dimensional translation and one-dimensional rotation, comprising a robot mechanical body structure, a control system and a visual system; it is characterized in that: The mechanical body structure of the robot, including the fixed platform (I), the driving mechanism (II), the branch chain (III) and the moving platform (IV) for installing the end effector: Fixed platform (1) is provided with mounting hole, is used for the installation of robot and the location connection of motor support frame (14); Four motor support frames are housed on the fixed platform, and four motor support frames (14) are mounted on fixed platform (1). ) is installed symmetrically on the upper axis, on which upper and lower limit support plates (2) with limit blocks (4) and sensor mounting brackets (11) with limit switches (13) are installed; The driving mechanism (II) includes a high-torque servo motor (5) and a precision reducer (12), and the precision reducer adopts a flange shaft type; The four branch chains (III) have the same structure and are evenly arranged axially symmetrically, including the active arm (6), the ball joint (3), the slave arm (9), the slave arm extension spring (8), and the ball joint connector (10) 1. The connecting pin (25) of the driven arm and the nut (7) at the pin end; the upper end of the active arm (6) is connected to the output flange shaft of the precision reducer of the driving mechanism (II), and the other end is respectively connected by two ball joints (3) Two parallel driven arms (9), the two ends of the driven arm (9) have ball joint connectors (10), and the ball joint (3) is connected to the pin (26) and the pin end by the driven arm The nuts (7) are fixedly connected, and the corresponding pin-end nuts (7) are hung with a slave arm extension spring (8); the branch chain master arm (6) adopts an I-shaped structure; the slave arm (9 ) adopts a tubular structure, and the material is carbon fiber; The moving platform (IV) includes a moving platform connecting plate (15), a moving platform bracket (17), a rotary joint (16), a bearing seat bracket (20), a pulley connecting frame (23) and an end effector amplification mechanism; two The moving platform connecting plates (15) are parallel to each other, and respectively connect the ball joints (3) at the lower ends of the corresponding branch chains (III) slave arms (9); two parallel moving platform supports (17) pass through the rotating joint ( 16) Connect with two parallel moving platform connecting plates (15) to form a moving platform parallelogram structure; The end effector amplification mechanism includes a small pulley (22), a large pulley (19), a timing belt (24) and an end effector flange (18); the large pulley is fixedly installed through a pulley connecting frame (23) On the moving platform bracket (20); the small pulley (22) is installed and connected to the moving platform support plate (17) through the end effector flange (18) and the angular contact ball bearing (21), so that the small pulley (22 ) has a rotational movement relative to the platform support plate (17); the synchronous belt transmits the rotational movement between the two, so that the rotational angle of the end effector flange (18) reaches ±180°, and the end effector flange (18) Install the end effector. the

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