Parallel connection type mechanical arm grabbing device of conical structure

Abstract

The invention discloses a parallel connection type mechanical arm grabbing device of a conical structure. The mechanical arm grabbing device at least comprises a fixed plate, a conical telescopic structure and a grabbing portion, wherein the one side of the fixed plate is connected with a supporting portion; the conical telescopic structure comprises a conical structure composed of at least four guide rail installing plates and a plurality of connection rods; one end of each guide rail installing plate is connected to the fixed plate and can slide in the plate face of the fixed plate, and theother end of each guide rail installing plate is connected to a connecting fixed plate; one end of each connection rod is connected to the corresponding guide rail installing plate in a sliding mannerand the other end of each connection rod is connected to a hanging table; and the grabbing portion is connected below the hanging table in a hanging manner. According to the parallel connection typemechanical arm grabbing device of the conical structure, a four-shaft type parallel connection structure is adopted, high controllability is achieved, positioning accuracy is higher than that of a triangular structure, and a manipulating algorithm is easier. The parallel connection type mechanical arm grabbing device of the conical structure is provided with four movement sliders to push and pullthe connection rods, the positions of the movement sliders are adjusted so that the hanging platform on the lower portion can be made to move in a three-dimensional space, the stability of the deviceis improved during work, and meanwhile the strength requirement on each connection rod in the work process is lowered.

Description

technical field [0001] The invention belongs to the field of manipulator grabbing devices, in particular to a parallel manipulator grabbing device with a tapered structure. Background technique [0002] In traditional factories, a large number of repetitive tasks such as sorting, picking, and packing are generally done manually, which has problems such as high labor intensity, time-consuming, boring, easy to cause pollution, and will increase the cost of the enterprise. Therefore, in these fields, manipulators are required to perform high-speed, medium and short-distance grabbing, handling and placement of light and small materials. [0003] The robotic arm refers to a high-precision, high-speed robotic arm. The robotic arm is a complex system with multiple inputs and multiple outputs, highly nonlinear, and strong coupling. Because of its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion-proof fields. [0004] In industria...

AI Technical Summary

Problems solved by technology

Since the driving motor and transmission system of the serial robot are installed on the moving parts, the system inertia is large and the dynamic performance is poor. It is not suitable for high-speed and high-precision micro-operations. Moreover, the safety of the system is low at high speed. Once the mechanical arm comes out, the consequences will be disastrous.

Moreover, the series manipulator mechanism takes up a large working space, and it is easy to interfere with the working platform

[0005] However, the current parallel manipulator generally uses a servo motor to drive the manipulator to deflect a certain angle to realize the movement of the grasping part. It requires high structural strength of the manipulator and relatively large torque requirements for the servo motor. The slight error, after the amplification of the mechanical arm, the error will become relatively large

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