A parallel manipulator with multi-layer moving platforms

Abstract

The present invention relates to a parallel manipulator with a multi-layer moving platform, comprising a frame, four longitudinal manipulator arms and at least one transverse manipulator arm, a moving platform connected to the four longitudinal manipulator arms, and a mechanical gripper mounted on the moving platform, wherein the moving platform comprises a first moving platform, a second moving platform disposed below the first moving platform, and a third moving platform disposed above the first moving platform; wherein the third moving platform is configured to move up and down relative to the first moving platform; the mechanical gripper is rotatably mounted on the second moving platform and connected to the third moving platform; at least one crank is eccentrically mounted on the side of the mechanical gripper, the crank being connected to the transverse manipulator arm, and the transverse manipulator arm drives the mechanical gripper to rotate horizontally relative to the second moving platform via the crank; the longitudinal manipulator arm is configured to drive the first and third moving platforms to move. The grasping action of the present invention is directly controlled by the longitudinal manipulator arm, and there is no power source on the moving platform, resulting in high operating efficiency.

Description

Technical Field

[0001] The invention relates to a manipulator, in particular to a parallel manipulator with multiple layers of moving platforms. Background Art

[0002] Compared to serial manipulators, parallel manipulators have advantages such as greater rigidity, greater load capacity, higher precision, a compact structure, and ease of high-speed motion. They are widely used in industries such as electronics, food, and medicine. Parallel manipulators, with their inherent advantages, can achieve high-speed grasping and handling operations in industrial production lines, making them of great research value. Currently, the gripper portion of existing parallel manipulators is generally mounted on a moving platform, and the grasping action is driven by an independent motor or other power source. This requires corresponding control cables and power supply cables to be drawn from the moving platform, and the power unit is directly mounted on the moving platform, which increases the load on the moving platform and reduces the manipulator's efficiency.

[0003] The present invention is proposed in view of this. Summary of the Invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a parallel manipulator with a multi-layer moving platform, whose grasping action is directly controlled by the longitudinal manipulator arm, without a power source on the moving platform, with a small load and high operating efficiency.

[0005] In order to achieve this object, the present invention adopts the following technical solutions:

[0006] A parallel manipulator with a multi-layer movable platform includes a frame, four longitudinal manipulator arms and at least one transverse manipulator arm mounted on the frame, a movable platform connected to the four longitudinal manipulator arms, and a manipulator gripper mounted on the movable platform, wherein the movable platform includes a first movable platform, a second movable platform fixedly connected to the first movable platform and disposed below the first movable platform, and a third movable platform disposed above the first movable platform, wherein the third movable platform is configured to move up and down relative to the first movable platform;

[0007] The mechanical gripper is rotatably mounted on the second moving platform and connected to the third moving platform, and is driven by the third moving platform to perform grasping and releasing movements; at least one crank is eccentrically mounted on the side of the mechanical gripper, and the crank is connected to the transverse mechanical arm, which drives the mechanical gripper to rotate horizontally relative to the second moving platform by pushing the crank to rotate;

[0008] The longitudinal robotic arm is configured to drive the first moving platform and the third moving platform to move.

[0009] Furthermore, the longitudinal mechanical arm includes a first swing arm rotatably connected to the frame, a longitudinal parallelogram mechanism rotatably connected to the first swing arm, and a first driving device for driving the swing arm to rotate;

[0010] One pair of relatively arranged longitudinal parallelogram mechanisms is rotatably connected to the first moving platform, and the other pair of relatively arranged longitudinal parallelogram mechanisms is slidably connected to the first moving platform through sliders respectively. The sliders can rotate relative to the longitudinal parallelogram mechanisms. A pair of sliding links are rotatably connected on both sides of the third moving platform, and the other ends of the sliding links are rotatably connected to the sliders. When the sliders slide, they will drive the third moving platform to move relative to the first moving platform.

[0011] Furthermore, a pair of outwardly extending slide rails are formed on both sides of the first movable platform, and the slider is sleeved on the slide rails and slidably engaged with the slide rails.

[0012] Furthermore, the deformation direction of the longitudinal parallelogram mechanism is perpendicular to the movement direction of the first swing arm.

[0013] Furthermore, the sliding link is an H-shaped structure, and its two ends are connected to the third moving platform and the slider through two hinge points respectively.

[0014] Furthermore, the mechanical gripper includes a cylindrical body, three claws installed at the bottom of the cylindrical body, a pull rod connected to the claws, and a traction rod connected to the pull rod. The traction rod passes through the cylindrical body and is rotatably connected to the third moving platform. The cylindrical body is rotatably connected to the second moving platform.

[0015] Furthermore, the transverse robotic arm is a pair and is symmetrically arranged on the left and right. The transverse robotic arm includes a horizontally arranged second swing arm, a transverse parallelogram mechanism rotatably connected to the second swing arm, and a second driving device that drives the second swing arm to rotate; the number of cranks is the same as that of the transverse robotic arm, and the transverse parallelogram mechanism is rotatably connected to the crank and is slidably connected to the second moving platform.

[0016] Furthermore, the second movable platform is a shell-type structure with a cavity in the middle and the left and right sides connected. The crank extends from both sides of the second movable platform and is connected to the transverse parallelogram mechanism.

[0017] Furthermore, the deformation direction of the transverse parallelogram mechanism is perpendicular to the movement direction of the second swing arm.

[0018] The parallel manipulator with a multi-layer moving platform proposed in the present invention can realize the three-dimensional translation of the moving platform and the horizontal rotation of the mechanical gripper. In addition to driving the moving platform to move up and down, front and back, left and right, the longitudinal manipulator arm can also directly drive the mechanical gripper to perform grasping and releasing movements. The control method is simple. At the same time, the transverse manipulator arm can improve the stability of the moving platform and drive the mechanical gripper to rotate horizontally. The present invention has a compact structure, high rigidity of the whole machine, better stability by adopting redundant drive, improved stress conditions of the rods, and high work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 : Overall structural diagram of the present invention;

[0020] Figure 2 : A side view of the overall structure diagram of the present invention;

[0021] Figure 3 : A schematic diagram of the structure of the present invention without the frame;

[0022] Figure 4 :for Figure 3 Forward projection of ;

[0023] Figure 5 : Partial structural diagram of the present invention;

[0024] Figure 6 :for Figure 5 A partial enlarged view of

[0025] Figure 7 : Exploded schematic diagram of a part of the structure of the present invention;

[0026] Figure 8 : A schematic diagram of the present invention after being cut longitudinally along the mechanical gripper;

[0027] Among them: 1, frame 2, longitudinal robotic arm 3, transverse robotic arm 4, moving platform 5, robotic gripper 21, first swing arm 22, longitudinal parallelogram mechanism 31, second swing arm 32, transverse parallelogram mechanism 33, second drive device 41, first moving platform 42, second moving platform 43, third moving platform 44, slider 45, sliding link 46, crank 41a, slide rail 42a, guide rod 51, columnar body 52, claw 53, pull rod 54, traction rod 54a, connecting seat 54b, circular chuck. DETAILED DESCRIPTION

[0028] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0029] Example 1

[0030] like Figures 1 to 4 As shown, a parallel manipulator with a multi-layered moving platform includes a frame 1, four longitudinal manipulator arms 2 and at least one transverse manipulator arm 3 mounted on the frame 1, a moving platform 4 connected to the four longitudinal manipulator arms 2, and a manipulator gripper 5 mounted on the moving platform 4. The four longitudinal manipulator arms 2 are arranged at 90-degree angles and mounted on the top of the frame 1, and the transverse manipulator arm 3 is located in the middle of the frame 1.

[0031] The longitudinal robotic arm 2 is used to drive the moving platform 4 to move in the up-down, front-back, and left-right directions, and the entire mechanism is a redundant mechanism.

[0032] like Figures 5 to 8 As shown, specifically, the movable platform 4 includes a first movable platform 41, a second movable platform 42 fixedly connected to the first movable platform 41 and disposed below the first movable platform 41, and a third movable platform 43 disposed above the first movable platform 41. The first and second movable platforms 41, 42 are arranged horizontally, with the third movable platform 43 configured to move up and down relative to the first movable platform 41. The robotic gripper 5 is rotatably mounted on the second movable platform 42 and connected to the third movable platform 43. The third movable platform 43 drives the robotic gripper 5 to grasp and release. The robotic gripper 5 can rotate horizontally relative to the second movable platform 42. At least one crank 46 is eccentrically mounted on the side of the robotic gripper 5. The crank 46 is connected to the robotic gripper 5 via a hinged shaft and is connected to the transverse robotic arm 3. When the transverse robotic arm 3 drives the crank 46 to move tangentially along the robotic gripper 5, it drives the robotic gripper 5 to rotate horizontally.

[0033] The longitudinal robotic arm 2 is configured to drive the first movable platform 41 and the third movable platform 43 to move, and the specific movement process will be described in detail below.

[0034] Specifically, the longitudinal robotic arm 2 includes a first swing arm 21 rotatably connected to the frame 1, a longitudinal parallelogram mechanism 22 rotatably connected to the first swing arm 21, and a first driving device (not shown in the figure) that drives the swing arm to rotate. The first swing arm 21 can swing up and down relative to the frame 1. The horizontal connecting rod at the upper end of the longitudinal parallelogram mechanism 22 is connected to the first swing arm 21, and the horizontal connecting rod at the lower end is connected to the moving platform 4. The deformation direction of the longitudinal parallelogram mechanism 22 is perpendicular to the movement direction of the first swing arm 21. Among them, a pair of longitudinal parallelogram mechanisms 22 (i.e. Figure 4 The two longitudinal parallelogram mechanisms in the front and rear directions) are rotatably connected to the first moving platform 41, and the other pair of longitudinal parallelogram mechanisms 22 (i.e. Figure 4 The two longitudinal parallelogram mechanisms in the left and right directions are respectively slidably connected to the first movable platform 41 through a slider 44, and the slider 44 can rotate relative to the longitudinal parallelogram mechanism 22. A pair of sliding links 45 are rotatably connected to both sides of the third movable platform 43, and the other end of the sliding link 45 is rotatably connected to the slider. When the slider 44 slides, it will drive the third movable platform 43 to move relative to the first movable platform 41.

[0035] For the sake of convenience in distinction, the longitudinal parallelogram mechanism 22 directly connected to the first movable platform 41 is referred to as the longitudinal mechanism I, and the longitudinal parallelogram mechanism 22 connected to the slider 44 is referred to as the longitudinal mechanism II. When the longitudinal mechanism I and the longitudinal mechanism II move synchronously, the first movable platform 41 will be driven to perform translational movement; when the longitudinal mechanism I is stationary and the longitudinal mechanism II moves, the slider 44 will be driven to slide relative to the first movable platform 41, and at the same time, the third movable platform 43 will be driven to move up and down relative to the first movable platform 41 through the sliding connecting rod 45, thereby driving the mechanical gripper 5 to perform a grasping or releasing action.

[0036] Specifically, a pair of slide rails 41a extending horizontally outward are provided on both sides of the first movable platform 41, and the slider 44 is mounted on the slide rails 41a and slides with the slide rails 41a. Preferably, the slide rails 41a are two pairs of parallel cylinders, one end of the cylinder is fixedly connected to the first movable platform 41, and the other end extends horizontally outward.

[0037] Preferably, the sliding link 45 is an H-shaped structure, with its two ends respectively connected to the third moving platform 43 and the slider 44 through two hinge points. The H-shaped structure has high strength and stable movement.

[0038] The mechanical gripper 5 includes a cylindrical body 51, three claws 52 installed at the bottom of the cylindrical body 51, a pull rod 53 connected to the claws 52, and a traction rod 54 connected to the pull rod 53. Specifically, a connecting seat 54a is provided at the bottom end of the traction rod 54, and three hinge points are provided on the connecting seat 54a, which are respectively connected to the three pull rods 53. When the traction rod 54 moves up and down, it will drive the three claws 52 to approach each other to achieve a grasping action or move away from each other to achieve a releasing action.

[0039] Preferably, the columnar body 51 is a hollow cylindrical structure. The traction rod 54 passes through the columnar body 51 and is rotatably connected to the third movable platform 43. Specifically, a circular chuck 54b is formed at the upper end of the traction rod 54 and is rotatably connected to the third movable platform 43. The columnar body 51 is rotatably connected to the second movable platform 42. When the third movable platform 43 moves relative to the first movable platform 41, the traction rod 54 is driven to move up and down.

[0040] Preferably, the transverse robotic arm 3 is a pair, symmetrically arranged bilaterally. Specifically, the transverse robotic arm 3 includes a horizontally arranged second swing arm 31, a transverse parallelogram mechanism 32 rotatably connected to the second swing arm 31, and a second drive device 33 that drives the second swing arm 31 to rotate. The second drive device 33 can drive the second swing arm 31 to rotate horizontally relative to the frame 1, with the deformation direction of the transverse parallelogram mechanism 32 perpendicular to the movement direction of the second swing arm 31.

[0041] The number of cranks 46 is the same as that of the transverse robotic arm 3. The transverse parallelogram mechanism 32 is rotatably connected to the cranks 46. A pair of guide rods 42a are provided on both sides of the second moving platform 42. A through hole is provided on the connecting rod connecting the transverse parallelogram mechanism 32 and the cranks 46, and the connecting rod can be slidably mounted on the guide rod 42a.

[0042] The second movable platform 42 is a shell-type structure with a cavity in the middle and two communicating sides. Two cranks 46 extend from two sides of the second movable platform 42 and are connected to the transverse parallelogram mechanism 32 .

[0043] The action process of the present invention is as follows: first, when the four longitudinal robotic arms 2 move synchronously, the moving platform 4 will be driven to move up and down; when the front and rear longitudinal robotic arms 2 move asynchronously, the moving platform 4 will be driven to move forward and backward; when the left and right longitudinal robotic arms 2 move asynchronously, the moving platform 4 will be driven to move left and right; when the two longitudinal mechanisms I are stationary and the two longitudinal mechanisms II move synchronously, the mechanical gripper 5 will be driven to grasp or release; when the two horizontal robotic arms 3 move, the mechanical gripper 5 will be driven to rotate horizontally.

[0044] The above is an embodiment of the present invention. It should be pointed out that for ordinary technicians in this field, various modifications and improvements can be made without departing from the principles of the present invention, which should also be regarded as the scope of protection of the present invention.

Claims

1. A parallel manipulator with a multi-layered movable platform, comprising a frame, four longitudinal manipulator arms and at least one transverse manipulator arm mounted on the frame, a movable platform connected to the four longitudinal manipulator arms, and a manipulator gripper mounted on the movable platform, characterized in that: The movable platform includes a first movable platform, a second movable platform fixedly connected to the first movable platform and arranged below the first movable platform, and a third movable platform arranged above the first movable platform, wherein the third movable platform is configured to be able to move up and down relative to the first movable platform; The mechanical gripper is rotatably mounted on the second moving platform and connected to the third moving platform, and is driven by the third moving platform to perform grasping and releasing movements; at least one crank is eccentrically mounted on the side of the mechanical gripper, and the crank is connected to the transverse mechanical arm, which drives the mechanical gripper to rotate horizontally relative to the second moving platform by pushing the crank to rotate; The longitudinal robotic arm is configured to drive the first movable platform and the third movable platform to move, and the longitudinal robotic arm is used to drive the movable platform to move in the up-down, front-back and left-right directions; The longitudinal mechanical arm includes a first swing arm rotatably connected to the frame, a longitudinal parallelogram mechanism rotatably connected to the first swing arm, and a first driving device that drives the swing arm to rotate; One pair of relatively arranged longitudinal parallelogram mechanisms is rotatably connected to the first moving platform, and the other pair of relatively arranged longitudinal parallelogram mechanisms is slidably connected to the first moving platform through sliders respectively. The sliders can rotate relative to the longitudinal parallelogram mechanisms, and two sides of the third moving platform are rotatably connected to a pair of sliding links, and the other ends of the sliding links are rotatably connected to the sliders. When the sliders slide, the third moving platform will be driven to move relative to the first moving platform; the longitudinal parallelogram mechanism directly connected to the first moving platform is called longitudinal mechanism I, and the longitudinal parallelogram mechanism connected to the slider is called longitudinal mechanism II. When the longitudinal mechanism I and the longitudinal mechanism II act synchronously, the first moving platform will be driven to perform translational motion; when the longitudinal mechanism I is stationary and the longitudinal mechanism II acts, it will drive the slider to slide relative to the first moving platform, and at the same time, the third moving platform will be driven to move up and down relative to the first moving platform through the sliding link, thereby driving the mechanical gripper to perform grasping or releasing actions; The deformation direction of the longitudinal parallelogram mechanism is perpendicular to the movement direction of the first swing arm; The transverse robotic arms are a pair and are symmetrically arranged on the left and right. The transverse robotic arms include a horizontally arranged second swing arm, a transverse parallelogram mechanism rotatably connected to the second swing arm, and a second driving device that drives the second swing arm to rotate; the number of cranks is the same as that of the transverse robotic arms, and the transverse parallelogram mechanism is rotatably connected to the cranks and is slidably connected to the second moving platform.

2. The parallel manipulator with multi-layer movable platforms according to claim 1, characterized in that: A pair of outwardly extending slide rails are formed on both sides of the first movable platform, and the sliding block is sleeved on the slide rails and slidably engaged with the slide rails.

3. The parallel manipulator with multi-layer movable platforms according to claim 1, characterized in that: The sliding link is an H-shaped structure, and its two ends are connected to the third moving platform and the slider through two hinge points respectively.

4. The parallel manipulator with multi-layer movable platforms according to claim 1, characterized in that: The mechanical gripper includes a cylindrical body, three claws installed at the bottom of the cylindrical body, a pull rod connected to the claws, and a traction rod connected to the pull rod. The traction rod runs through the cylindrical body and is rotatably connected to the third moving platform. The cylindrical body is rotatably connected to the second moving platform.

5. The parallel manipulator with multi-layer movable platforms according to claim 1, characterized in that: The second moving platform is a shell-type structure with a cavity in the middle and the left and right sides connected. The crank extends from both sides of the second moving platform and is connected to the transverse parallelogram mechanism.

6. The parallel manipulator with multi-layer movable platforms according to claim 5, characterized in that: The deformation direction of the transverse parallelogram mechanism is perpendicular to the movement direction of the second swing arm.

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