A high-speed serial-parallel hybrid manipulator

Abstract

The embodiment of the present invention discloses a high-speed serial-parallel hybrid manipulator, which relates to the technical field of handling equipment. The key points of its technical solution include a support platform, a moving platform is arranged above the support platform, and a driving device for driving the moving platform to move horizontally on the support platform is arranged on the support platform; a group of driving devices are arranged on the support platform and on both sides of the moving platform; the driving device includes a driving motor, a driving rod connected to the output shaft of the driving motor, and a driven rod rotatably connected between the driving rod and the moving platform at both ends; the total distance between the two driving motors is less than the total length of the two groups of driven rods and the driving rod; a lifting assembly that can grab the upper parts of the support platform is arranged on the moving platform. This solution is used to solve the problem that when it is necessary to move objects in a two-dimensional plane, the frequent changes in spatial running direction and posture changes of the existing robotic arm affect the speed and efficiency of the robot's operation.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of handling equipment, and in particular to a high-speed serial-parallel hybrid robot. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms, and is used to grab, carry objects or operate tools according to a fixed program. The manipulator is the earliest industrial robot and the earliest modern robot. It can replace heavy labor of people to achieve mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy. A manipulator in the modern sense is a device that can replace people to carry and perform two-dimensional or three-dimensional movements.

[0003] In some work scenarios, objects need to be moved quickly in a two-dimensional plane. However, existing robots usually move or rotate in three dimensions in space as a whole. Frequent changes in spatial direction and posture affect the speed and efficiency of the robot's operation. Summary of the invention

[0004] To this end, an embodiment of the present invention provides a high-speed serial-parallel hybrid robot to solve the problem that when objects need to be moved quickly in a two-dimensional plane, the frequent changes in spatial direction and posture of the existing robot arm affect the speed and efficiency of the robot's operation.

[0005] In order to achieve the above purpose, the embodiment of the present invention provides the following technical solutions:

[0006] According to an embodiment of the present invention, a high-speed serial-parallel hybrid manipulator is disclosed, comprising support columns arranged at intervals, a support platform arranged between the support columns, a moving platform arranged above the support platform, and a driving device arranged on the support platform to drive the moving platform to move horizontally on the support platform; the driving device is arranged on the support platform and is located on both sides of the moving platform in one group; the driving device comprises a driving motor fixed on the support platform, a driving rod connected to the output shaft of the driving motor, and a driven rod rotatably connected between the driving rod and the moving platform at both ends; the driving rod and the driven rod are parallel to the plane of the support platform; the driving motor can drive the driving rod to rotate along a plane parallel to the support platform; the total distance between the two driving motors is less than the total length of the two groups of driven rods and the driving rod; a lifting assembly is arranged on the moving platform, and the lifting assembly can grab the parts placed on the upper side of the support platform.

[0007] Furthermore, an intermediate connecting rod is vertically arranged on the side of the moving platform away from the supporting platform, and a middle slide is arranged at one end of the intermediate connecting rod away from the moving platform; an auxiliary supporting component is arranged between multiple supporting columns to support the middle slide so that it can keep sliding along a plane parallel to the supporting platform.

[0008] Furthermore, multiple support columns are arranged in parallel and in a rectangular shape; the auxiliary support assembly includes a first guide column and a first sliding rod; the first guide columns are arranged in parallel, and first guide blocks are respectively provided at both ends of the first sliding rod, the first guide blocks are sleeved on the first guide columns, and the first guide blocks can slide along the length direction of the first guide columns; a first sliding hole is opened on the middle slide; the first sliding rod passes through the first sliding hole; the first guide column, the first sliding rod, and the first sliding hole are located in the same plane.

[0009] Furthermore, a second guide column is arranged on the support column, and two second guide columns are arranged in parallel at intervals; the second guide column and the first guide column enclose a rectangle; a second sliding rod is arranged between the two second guide columns, and second guide blocks are respectively fixed at both ends of the second sliding rod, and the second guide block is sleeved on the second guide column and can move along the length direction of the second guide column; a second sliding hole is opened on the middle slide, and the second sliding hole is perpendicular to the first sliding hole, and the second sliding rod passes through the second sliding hole; the second sliding hole is located on the side close to the moving platform; the second guide column, the second sliding rod and the second sliding hole are located in the same plane.

[0010] Furthermore, the lifting assembly includes a lifting cylinder arranged on the moving platform, and a suction cup connected to the piston rod of the lifting cylinder, wherein the suction cup is located on the side of the moving platform close to the supporting platform, and when the piston rod of the lifting cylinder is extended, the suction cup can suck up the parts placed on the supporting platform.

[0011] Furthermore, a fixed platform is provided on one side of the moving platform close to the middle connecting rod, one end of the middle connecting rod close to the moving platform is fixed on the fixed platform, and the lifting cylinder is located on one side of the fixed platform close to the moving platform.

[0012] Furthermore, the suction cup is in a "conical" shape, with a smaller diameter on the side close to the moving platform and a larger diameter on the side away from the moving platform.

[0013] The embodiments of the present invention have the following advantages:

[0014] During use of the solution of the present invention, the suction cup in the lifting assembly grabs the parts, and the driving device and the moving platform provided on the supporting platform drive the lifting assembly to move two-dimensionally on the supporting platform, thereby realizing the transportation of the parts. The moving platform and the middle slide are restricted within a two-dimensional plane by the provided middle slide and auxiliary supporting assembly, so that they can continue to move within the two-dimensional plane, thereby avoiding unnecessary posture changes of the moving platform when the suction cup grabs the parts or during the movement, so that the moving platform can move quickly and stably in two dimensions within the plane. The force structure of the robotic arm is optimized as a whole, so that the robotic arm is smoother during the movement and transportation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0016] The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with the technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantial technical significance. Any structural modification, change in proportion or adjustment in size shall still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0017] Figure 1 A schematic diagram of the overall structure of a high-speed serial-parallel hybrid manipulator provided by an embodiment of the present invention;

[0018] Figure 2 A schematic diagram of a high-speed serial-parallel hybrid manipulator protrusion drive device provided by an embodiment of the present invention;

[0019] Figure 3 A schematic diagram of the connection relationship between the protruding movable platform and the middle slide table in a high-speed serial-parallel hybrid manipulator provided by an embodiment of the present invention;

[0020] Figure 4 A schematic diagram of a protruding lifting assembly in a high-speed serial-parallel hybrid robot provided in an embodiment of the present invention.

[0021] In the figure: 1. support column; 2. support platform; 3. moving platform; 31. fixed platform; 4. driving device; 41. driving motor; 42. driving rod; 43. driven rod; 5. intermediate connecting rod; 6. middle slide; 61. first sliding hole; 62. second sliding hole; 7. auxiliary support assembly; 71. first guide column; 72. first sliding rod; 721. first guide block; 73. second guide column; 74. second sliding rod; 741. second guide block; 8. lifting assembly; 81. lifting cylinder; 82. suction cup. DETAILED DESCRIPTION

[0022] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] The terms such as "upper", "lower", "left", "right", "middle", etc. cited in this specification are only for the convenience of description and are not intended to limit the scope of implementation of the present invention. Changes or adjustments to their relative relationships should be regarded as within the scope of implementation of the present invention without substantially changing the technical content.

[0024] A high-speed serial-parallel hybrid manipulator, such as Figures 1 to 4 As shown, it includes support columns 1 arranged at intervals, a support platform 2 arranged between multiple support columns 1, a moving platform 3 is arranged in parallel above the support platform 2, and a lifting component 8 is arranged on the moving platform 3. The lifting component 8 can grab the parts placed on the upper side of the support platform 2.

[0025] A driving device 4 is provided on the support platform 2 to drive the moving platform 3 to move horizontally on the support platform 2. When in use, the driving device 4 drives the moving platform 3 to move along a two-dimensional plane parallel to the support platform plane. Thus, the lifting assembly 8 is driven to move along the two-dimensional plane to achieve high-speed movement of the components.

[0026] Four support columns 1 are arranged at intervals, and the four support columns 1 are rectangular. The support platform 2 is fixed between the four support columns 1 .

[0027] The driving device 4 is provided with a group on the supporting platform 2 and on both sides of the moving platform 3; the driving device 4 comprises a driving motor 41 fixed on the supporting platform 2, a driving rod 42 connected to the output shaft of the driving motor 41, and a driven rod 43 rotatably connected between the driving rod 42 and the moving platform 3 at both ends; the length directions of the driving rod 42 and the driven rod 43 are respectively parallel to the plane of the supporting platform 2; the driving motor 41 can drive the driving rod 42 to rotate along the plane parallel to the supporting platform 2; the total distance between the two driving motors 41 is less than the total length of the two groups of driven rods 43 and the driving rod 42. Therefore, during use, the moving platform 3 can be driven to move at high speed in a two-dimensional plane.

[0028] The driving motor 41 is fixed to the lower side of the supporting platform 2, and the output shaft of the driving motor 41 is perpendicular to the plane of the supporting platform 2. A driven rod 43 is rotatably connected to one end of the driving rod 42 away from the driving motor 41, and one end of the driven rod 43 away from the driving rod 42 is rotatably connected to the moving platform 3.

[0029] It should be noted that the sum of the distances between the two driving motors 41 is smaller than the sum of the total lengths of the two sets of driven rods 43 and the driving rod 42 .

[0030] When in use, the two driving motors 41 rotate in coordination with each other to drive the driving rod 42 to rotate. During the rotation, the two driven rods 43 are controlled to swing, thereby controlling the moving direction of the moving platform 3 between the two driven rods 43 .

[0031] An intermediate connecting rod 5 is vertically arranged on one side of the moving platform 3 away from the supporting platform 2, and a middle slide 6 is arranged at one end of the intermediate connecting rod 5 away from the moving platform 3. An auxiliary support assembly 7 is arranged between the plurality of support columns 1 to support the middle slide 6 so that it keeps sliding along a plane parallel to the supporting platform 2.

[0032] The auxiliary support assembly 7 includes a first guide column 71 , a first sliding rod 72 , a second guide column 73 , and a second sliding rod 74 .

[0033] Among them, two first guide columns 71 are arranged in parallel and fixed on the support column 1 respectively, and first guide blocks 721 are arranged at both ends of the first sliding rod 72 respectively, and the two first guide blocks 721 are respectively sleeved on one first guide column 71, and the first guide blocks 721 can slide along the length direction of the first guide column 71; a first sliding hole 61 is opened on the middle slide 6; the first sliding rod 72 passes through the first sliding hole 61. The first guide column 71, the first sliding rod 72, and the first sliding hole 61 are located in the same plane.

[0034] When the moving platform 3 moves horizontally, the middle slide 6 on the upper side is driven to move by the intermediate connecting rod 5. The middle slide 6 is relatively stable during the movement by the first guide column 71 and the first sliding rod 72 arranged between the two first guide columns 71.

[0035] The support column 1 is provided with a second guide column 73 , and two second guide columns 73 are provided in parallel at intervals; the second guide column 73 and the first guide column 71 are enclosed to form a rectangle.

[0036] A second sliding rod 74 is arranged between the two second guide columns 73, and second guide blocks 741 are fixed at both ends of the second sliding rod 74, respectively. The two second guide blocks 741 are respectively sleeved on the two second guide columns 73, and the second guide blocks 741 can move along the length direction of the second guide columns 73; a second sliding hole 62 is opened on the middle slide 6, the second sliding hole 62 is perpendicular to the first sliding hole 61, and the second sliding rod 74 passes through the second sliding hole 62; the second sliding hole 62 is located on the side close to the moving platform 3; the second guide column 73, the second sliding rod 74, and the second sliding hole 62 are located in the same plane.

[0037] When in use, the middle slide 6 is driven by the middle connecting rod 5 so as to move synchronously with the moving platform 3. During the movement, due to the action of the first sliding hole 61 and the second sliding hole 62, the middle slide 6 can slide along the length direction of the first sliding rod 72 and the second sliding rod 74. At the same time, the first sliding rod 72 and the second sliding rod 74 can slide along the first guide column 71 and the second guide column 73 respectively, thereby realizing the free sliding of the middle slide 6 in a two-dimensional plane.

[0038] The middle slide 6 is limited by the first guide column 71, the first sliding rod 72, the second guide column 73, and the second sliding rod 74, so that the middle slide 6 will not rotate during the movement. Thus, the moving platform 3 is limited by the intermediate connecting rod 5 connected between the middle slide 6 and the moving platform 3, which limits the three-dimensional rotation of the moving platform 3, reduces unnecessary position changes of the moving platform 3, and enables the moving platform 3 to move quickly and stably in two dimensions within the plane. Therefore, the lifting assembly 8 on the moving platform 3 can stably move in the two-dimensional plane after grabbing the parts.

[0039] The lifting assembly 8 includes a lifting cylinder 81 arranged on the moving platform 3, and a suction cup 82 connected to the piston rod of the lifting cylinder 81. The suction cup 82 is located on the side of the moving platform 3 close to the supporting platform 2. During the extension and retraction process of the piston rod of the lifting cylinder 81, the parts on the supporting platform 2 are grabbed.

[0040] A fixed platform 31 is provided on the side of the moving platform 3 close to the middle connecting rod 5, one end of the middle connecting rod 5 close to the moving platform 3 is fixed on the fixed platform 31, and the lifting cylinder 81 is located on the side of the fixed platform 31 close to the moving platform 3. The suction cup 82 is in a "conical" shape, with a smaller diameter on the side close to the moving platform 3 and a larger diameter on the side away from the moving platform 3.

[0041] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A high-speed serial-parallel hybrid manipulator, characterized in that: It comprises support columns (1) arranged at intervals, a support platform (2) arranged between the support columns (1), a moving platform (3) arranged above the support platform (2), and a driving device (4) arranged on the support platform (2) for driving the moving platform (3) to move horizontally on the support platform (2); The driving device (4) is provided on the supporting platform (2) and is located on both sides of the moving platform (3), respectively. The driving device (4) comprises a driving motor (41) fixed on the supporting platform (2), a driving rod (42) connected to the output shaft of the driving motor (41), and a driven rod (43) with two ends respectively rotatably connected between the driving rod (42) and the moving platform (3); The length directions of the driving rod (42) and the driven rod (43) are respectively parallel to the plane of the support platform (2); the driving motor (41) can drive the driving rod (42) to rotate along a plane parallel to the support platform (2); the total distance between the two driving motors (41) is less than the total length of the two sets of driven rods (43) and the driving rod (42); A lifting assembly (8) is provided on the moving platform (3), and the lifting assembly (8) can grab parts placed on the upper side of the supporting platform (2); An intermediate connecting rod (5) is vertically arranged on one side of the movable platform (3) away from the supporting platform (2), and a middle slide (6) is arranged on one end of the intermediate connecting rod (5) away from the movable platform (3); an auxiliary support assembly (7) is arranged between the plurality of support columns (1) to support the middle slide (6) so that the middle slide (6) can keep sliding along a plane parallel to the supporting platform (2); A plurality of support columns (1) are arranged in parallel and in a rectangular shape; The auxiliary support assembly (7) comprises a first guide column (71) and a first sliding rod (72); The first guide columns (71) are arranged in parallel, and first guide blocks (721) are respectively arranged at both ends of the first sliding rod (72), the first guide blocks (721) are sleeved on the first guide columns (71), and the first guide blocks (721) can slide along the length direction of the first guide columns (71); A first sliding hole (61) is provided on the middle sliding platform (6); the first sliding rod (72) passes through the first sliding hole (61); The first guide column (71), the first sliding rod (72), and the first sliding hole (61) are located in the same plane; A second guide column (73) is arranged on the support column (1), and two second guide columns (73) are arranged in parallel and at intervals; the second guide column (73) and the first guide column (71) are enclosed to form a rectangle; A second sliding rod (74) is arranged between the two second guide pillars (73), and second guide blocks (741) are respectively fixed at both ends of the second sliding rod (74), and the second guide blocks (741) are sleeved on the second guide pillars (73) and can move along the length direction of the second guide pillars (73); A second sliding hole (62) is provided on the middle sliding platform (6), the second sliding hole (62) is perpendicular to the first sliding hole (61), and the second sliding rod (74) passes through the second sliding hole (62); The second sliding hole (62) is located on a side close to the moving platform (3); the second guide column (73), the second sliding rod (74), and the second sliding hole (62) are located in the same plane; The lifting assembly (8) comprises a lifting cylinder (81) arranged on the moving platform (3), and a suction cup (82) connected to the piston rod of the lifting cylinder (81), wherein the suction cup (82) is located on a side of the moving platform (3) close to the supporting platform (2), and when the piston rod of the lifting cylinder (81) is extended, the suction cup (82) can suck up parts placed on the supporting platform (2).

2. The high-speed serial-parallel hybrid manipulator according to claim 1, characterized in that: A fixed platform (31) is provided on a side of the movable platform (3) close to the intermediate connecting rod (5); one end of the intermediate connecting rod (5) close to the movable platform (3) is fixed to the fixed platform (31); and the lifting cylinder (81) is located on a side of the fixed platform (31) close to the movable platform (3).

3. The high-speed serial-parallel hybrid manipulator according to claim 2, characterized in that: The suction cup (82) is in a "conical" shape, with a smaller diameter on the side close to the moving platform (3) and a larger diameter on the side away from the moving platform (3).

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