Rapidly-deployed rope-driven parallel robot for indoor carrying

Abstract

The invention discloses a quickly deployed rope-driven parallel robot for indoor carrying, which relates to the technical field of robots, and comprises a rack, the edge of the rack is provided with a plurality of groups of uniformly distributed arms, the arms are provided with rope guide structures, and the rope guide structures are used for guiding ropes out of rope driving units. The rope driving unit is arranged on the rack, and a two-shaft rotating joint is arranged at the bottom of the rack and used for adjusting the posture of the end effector. Through the arrangement of the robot, the integration degree of the robot is high, system deployment is completed only by connecting each rope of the robot to one hanging point in the existing environment before a task is executed, and the operation is very rapid. Meanwhile, the robot is small in size, light in weight and convenient to transport and replace workplaces; and the loading capacity is large, and the device is suitable for cargo carrying tasks.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a fast-deployed rope-driven parallel robot for indoor transportation. Background Art

[0002] With the continuous development of robotics technology and the continuous improvement of automation level, robots have begun to replace tedious manual labor in many fields, such as cargo handling and sorting. The application background of robots in cargo handling and sorting is closely related to the rapid development of modern logistics and warehousing industries. With the prosperity of e-commerce and the complexity of global supply chains, enterprises have a surge in demand for efficient and accurate logistics processing. This demand has promoted the widespread application of robotics technology in cargo handling and sorting.

[0003] At present, the robots used for cargo handling mainly include robotic arms and drones. Robotic arms are usually fixed in a specific position, and their working space is relatively limited, which is not suitable for large-scale cargo handling. The load capacity of drones is generally small, and they can only carry relatively light items; the endurance time is limited, and the endurance will be further reduced when carrying items. At the same time, when drones fly indoors, the positioning and navigation technology is complex and costly. Compared with robotic arms, rope-driven parallel robots have advantages such as fast response speed and large working space; compared with drones, rope-driven parallel robots have stronger load capacity and endurance, better quietness and safety, and do not require additional indoor positioning technology. Therefore, rope-driven parallel robots have certain advantages in indoor cargo handling. In traditional rope-driven parallel robot systems, the drive device is separated from the end effector, and a large profile frame needs to be built, which requires cumbersome system deployment before performing tasks, and is not conducive to changing the robot's workplace.

[0004] Therefore, it is necessary to propose a new rope-driven parallel robot to solve the problems existing in the above-mentioned prior art. Summary of the invention

[0005] The purpose of the present invention is to solve the defects in the prior art and to propose a fast-deployable rope-driven parallel robot for indoor transportation.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A fast-deployed rope-driven parallel robot for indoor handling comprises a frame, a plurality of evenly distributed arms are arranged at the edge of the frame, a rope guiding structure is arranged and mounted on the arm, the rope guiding structure is used to guide the rope from a rope driving unit, the rope driving unit is arranged on the frame, a two-axis rotating joint is arranged at the bottom of the frame, and the two-axis rotating joint is used to adjust the posture of an end effector.

[0008] Furthermore, the frame includes a frame lower plate and a frame upper plate, the two plates are arranged in parallel and fixedly connected by a main body support member, an arm fixing seat is also arranged between the frame lower plate and the frame upper plate, the arm fixing seat is used to install the arm, a battery mounting plate is arranged above the frame upper plate, a controller and a battery are fixedly connected to the battery mounting plate, and a two-axis joint mounting plate is arranged below the frame lower plate.

[0009] Furthermore, a landing gear is arranged at the bottom of the frame.

[0010] Furthermore, the rope driving unit includes a winch motor and a rope winding drum, wherein the winch motor is fixedly connected to the frame, the rope winding drum is arranged at the output end of the winch motor, and winch cover plates are arranged at both ends of the rope winding drum.

[0011] Furthermore, the rope guiding structure includes a connecting main board, on which an arm connecting piece is arranged, and on one side of the arm connecting piece an outer frame formed by an arm upper plate, an arm lower plate and a carbon tube clamp seat is arranged.

[0012] Furthermore, a group of horizontally arranged inlet V-shaped bearings are rotatably connected to the top of the outer frame, a vertically arranged middle V-shaped bearing is arranged inside the connecting main board, and a vertically arranged end V-shaped bearing group is arranged on the top of the connecting main board; the rope cooperates with the inlet V-shaped bearing, the middle V-shaped bearing and the end V-shaped bearing group in sequence.

[0013] Furthermore, the inlet V-shaped bearing is arranged on the top of the outer frame through a bearing pressure block, the middle V-shaped bearing is rotatably connected to the connecting main board through a nylon column, and the end V-shaped bearing group includes a rope outlet steering seat, the lower end of the rope outlet steering seat is a tubular structure, the tubular structure cooperates with the inner wall of the angular contact ball bearing, a hollow screw is arranged in the tubular structure, the angular contact ball bearing is fixed in the bearing seat, the bearing pressure plate is arranged at the opening below the bearing seat, and a gasket is arranged between the hollow screw and the bearing pressure plate.

[0014] Furthermore, a horizontal guide seat is arranged above the upper plate of the machine arm, a guide ring seat is fixedly connected to the horizontal guide seat, a ceramic guide ring is fixedly connected to the guide ring seat, and a through hole for the rope to pass through is opened on the ceramic guide ring.

[0015] Furthermore, the connecting main board is a two-plate structure, the two plates are arranged in parallel and connected by an aluminum column, and the arm connecting piece is located between the two plates.

[0016] Furthermore, the two-axis rotating joint includes an end platform and a rotating frame, the end platform is arranged in the rotating frame and connected to the rotating frame through an inner pan-tilt motor, the rotating frame is connected to the carbon fiber plate on the frame main body support through an outer pan-tilt motor, a carbon fiber tube is arranged at the bottom of the end platform, and an actuator mounting seat is arranged at the bottom of the carbon fiber tube.

[0017] Beneficial Effects

[0018] Compared with the prior art, the invention has the following beneficial effects: compared with the traditional rope-driven parallel robot, the robot has a higher degree of integration, and before performing a task, only each rope of the robot needs to be connected to a hanging point in the existing environment to complete the deployment of the system, and the response is faster. At the same time, the robot is small in size and light in weight, which is convenient for transportation and replacement of the workplace; it has a large load capacity and is suitable for cargo handling tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0020] Figure 1 This is a schematic diagram of the overall structure of the robot.

[0021] Figure 2 A schematic diagram of the rack structure.

[0022] Figure 3 Schematic diagram of the structure of the rope drive unit.

[0023] Figure 4 Schematic diagram of the structure of the rope guide structure.

[0024] Figure 5 This is an exploded view of the rope-guided structure.

[0025] Figure 6 It is a structural diagram of a two-axis rotation joint.

[0026] In the figure: 1, frame; 2, rope drive unit; 3, controller; 4, battery; 5, two-axis rotation joint; 6, rope guide structure; 101, frame lower plate; 102, frame upper plate; 103, battery mounting plate 104, main body support; 105, two-axis joint mounting plate; 106, machine arm fixing seat; 107, landing gear; 108, machine arm; 201, winch cover; 202, rope drum; 203, winch motor; 501, platform carbon plate; 502, rotating frame; 503, corner joint; 504, coupling; 505, pan / tilt motor; 506, carbon fiber tube; 507 , actuator mounting seat; 601, rope output steering seat; 602, second anti-slip rope member; 603, bearing pressure plate; 604, hollow screw; 605, nylon column; 606, bearing pressure block; 607, guide ring seat; 608, ceramic guide ring; 609, horizontal guide seat; 610, upper arm plate; 611, carbon tube clamp seat; 612, lower arm plate; 613, V-shaped bearing; 614, first anti-slip rope member; 615, bearing seat; 616, angular contact ball bearing; 617, gasket; 618, third anti-slip rope member; 619, connecting main board; 620, aluminum column; 621, arm connecting piece. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0028] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0029] Reference Figure 1 - Figure 6 A fast-deployed rope-driven parallel robot for indoor handling includes a frame 1, a plurality of evenly distributed arms 108 are arranged on the edge of the frame 1, a rope guide structure 6 is arranged on the arm 108, the rope guide structure 6 is used to guide the rope to the rope drive unit 2, the rope drive unit 2 is arranged on the frame 1, and a two-axis rotation joint 5 is arranged at the bottom of the frame 1, and the two-axis rotation joint 5 is used to install an end effector.

[0030] As a preferred embodiment, the arm 108 is a carbon fiber tube 506 with a diameter of 25 mm and a length of 136 mm. One end of the arm 108 is connected to the main body of the frame 1 by threaded fastening, and the other end is connected to the rope guide structure 6 by AB glue.

[0031] In other preferred embodiments, the frame 1 includes a frame lower plate 101 and a frame upper plate 102. The two plates are arranged in parallel and fixedly connected by a main support member 104. An arm fixing seat 106 is also arranged between the frame lower plate 101 and the frame upper plate 102. The arm fixing seat 106 is used to install the arm 108. A battery mounting plate 103 is arranged above the frame upper plate 102. The controller 3 and the battery 4 are fixedly connected to the battery mounting plate 103. A two-axis joint mounting plate 105 is arranged below the frame lower plate 101.

[0032] The main body of the frame 1 mainly includes three layers of carbon fiber plates and other connecting parts. The three layers of carbon fiber plates are battery mounting plate 103, frame upper plate 102 and frame lower plate 101 from top to bottom. The battery mounting plate 103 is connected to the frame upper plate 102 through aluminum columns 620, and the frame upper plate 102 and the frame lower plate 101 are connected through four main body supports 104 and four arm fixing seats 106 to increase the rigidity of the main body of the frame 1, wherein the main body supports 104 and the arm fixing seats 106 are both aluminum machined parts. Two two-axis joint mounting plates 105 are installed on two of the main body supports 104 to connect the two-axis rotating joints 5. In order to reduce the weight of the robot, all carbon fiber plates and main body supports 104 are designed to be lightweight.

[0033] In other preferred embodiments, a landing gear 107 is provided at the bottom of the frame 1. The landing gear 107 includes a carbon fiber tube 506 with a diameter of 16 mm and a length of 200 mm and a buffer pad. The landing gear 107 is fixed below the main body of the frame 1 to support the body of the robot so that it can be stably parked on a plane.

[0034] In other preferred embodiments, the rope drive unit 2 includes a winch motor 203 and a rope winding drum 202. The winch motor 203 is fixedly connected to the frame 1, and the rope winding drum 202 is arranged at the output end of the winch motor 203. Winch cover plates 201 are arranged at both ends of the rope winding drum 202.

[0035] For the convenience of processing, the winch is connected by a rope drum 202 and a winch cover plate 201. The winch is used to wind the rope for storage. The rope winding surface of the winch is processed with a spiral groove to prevent the rope from crossing and overlapping on the winch during the process of retracting and releasing, thereby improving the accuracy of rope length control. The winch motor 203 uses the Yushu A1 motor, which has a maximum output torque of 33.5N·m, a winch rope winding surface diameter of 100mm, and a maximum rope tension of 670N that can be provided by the rope drive unit 2, which has a large load capacity.

[0036] In other preferred embodiments, the rope guide structure 6 includes a connecting main board 619, on which an arm connector 621 is provided, and one side of the arm connector 621 is provided with an outer frame surrounded by an arm upper plate 610, an arm lower plate 612 and a carbon tube clamp seat 611.

[0037] Specifically, a group of horizontally arranged inlet V-shaped bearings are rotatably connected to the top of the outer frame, a vertically arranged middle V-shaped bearing is arranged inside the connecting main board 619, and a vertically arranged end V-shaped bearing group is arranged on the top of the connecting main board 619; the rope cooperates with the inlet V-shaped bearing, the middle V-shaped bearing and the end V-shaped bearing group in turn.

[0038] Among them, the inlet V-shaped bearing is arranged on the top of the outer frame through the bearing pressure block 606, the middle V-shaped bearing is rotatably connected to the connecting main board 619 through the nylon column 605, and a third anti-slip rope component 618 is arranged on one side. The end V-shaped bearing group includes a rope outlet steering seat 601, and the lower end of the rope outlet steering seat 601 is a tubular structure, which cooperates with the inner wall of the angular contact ball bearing 616. A hollow screw 604 is arranged in the tubular structure, and the angular contact ball bearing is fixed in the bearing seat 615. The bearing pressure plate 603 is arranged at the opening below the bearing seat 615, and a gasket 617 is arranged between the hollow screw 604 and the bearing pressure plate 603. A V-shaped bearing 613 is arranged inside the upper part of the rope outlet steering seat 601, and a second anti-slip rope component 602 and a first anti-slip rope component 614 are arranged on both sides.

[0039] Specifically, a horizontal guide seat 609 is provided above the upper plate 610 of the machine arm, a guide ring seat 607 is fixedly connected to the horizontal guide seat 609, a ceramic guide ring 608 is fixedly connected to the guide ring seat 607, and a through hole for the rope to pass through is opened in the ceramic guide ring 608.

[0040] Specifically, the connecting main board 619 is a two-plate structure, the two plates are arranged in parallel and connected by an aluminum column 620, and the arm connecting member 621 is located between the two plates.

[0041] The rope guide structure 6 of the robot mainly uses V-shaped bearings and ceramic guide rings 608 to guide the rope, thereby reducing the friction force on the rope during the process of being led out from the winch. After the rope is led out from the winch, it first enters the rope guide structure 6 through a ceramic guide ring 608. The surface of the ceramic guide ring 608 is smooth, and the rope is not easy to wear and break when it bends at a large angle at the guide ring. After passing through the ceramic guide ring 608, the rope is almost horizontal, and the rope is redirected to be parallel to the machine arm 108 through a horizontally placed V-shaped bearing. The above-mentioned ceramic guide ring 608 and the horizontally placed V-shaped bearing are both installed on the horizontal guide seat 609. Then, through a vertically placed V-shaped bearing, the rope is redirected to be perpendicular to the machine arm 108. Finally, the rope enters the rope output steering seat 601 through the hollow screw 604 and is led out through the V-shaped bearing group on the rope output steering seat 601. As the robot moves in space, the angle between the drawn rope and the robot will change. Therefore, the rope-exiting steering seat 601 cooperates with the angular contact ball bearing in the bearing seat 615, and has a rotational freedom. Three vertically placed V-shaped bearings 613 are installed on the rope-exiting steering seat 601, and the rope vertically entering the rope-exiting steering seat 601 is led out at a certain angle after a series of changes. An anti-rope-slipping member is installed on the vertically placed V-shaped bearing to prevent the rope from slipping out of the groove of the V-shaped bearing. The rope guide structure 6 is finally connected to the machine arm 108 through the machine arm connector 621 and the carbon tube clamp.

[0042] In other preferred embodiments, the two-axis rotating joint 5 of the robot mainly includes a pan-tilt motor, a rotating frame 502 and an end platform 501. Two pan-tilt motors are provided on each rotating axis to jointly adjust the posture of the end platform 501. The pan-tilt motor is a HT4315 motor with a fast response speed. The rotating frame 502 is spliced ​​by a carbon fiber plate and an angle joint 503, and is connected to the pan-tilt motor. The outer pan-tilt motor 505 is connected to the carbon fiber plate on the main support 104 of the frame 1 to achieve the installation of the two-axis rotating joint 5. The inner pan-tilt motor 505 is connected to the end platform 501 through a coupling 504 to adjust the posture of the end platform 501. The end platform 501 includes a carbon fiber tube 506 and an actuator mounting seat 507. The end actuator of the robot in performing a task is installed on the actuator mounting seat 507 of the end platform 501.

[0043] The robot controller 3 uses the STM32F407 development board, which has rich peripherals and interfaces. The 485 communication protocol is used to control the Yushu A1 motor and the HT4315 motor. The wireless transparent transmission module can realize the communication between the controller 3 and the host computer. In order to read the posture of the robot and the end, the JY901S nine-axis sensor module of Witt Intelligent is selected. Its built-in angle solution algorithm and Kalman filter algorithm make it very easy for the controller 3 to read the stable and accurate three-axis posture angle through the serial port.

[0044] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A fast-deployable rope-driven parallel robot for indoor handling, characterized in that: It includes a frame, a plurality of evenly distributed arms are arranged at the edge of the frame, a rope guide structure is arranged on the arm, the rope guide structure is used to guide the rope from the rope drive unit, the rope drive unit is arranged on the frame, and a two-axis rotation joint is arranged at the bottom of the frame, and the two-axis rotation joint is used to adjust the posture of the end effector.

2. A fast-deployable rope-driven parallel robot for indoor transportation according to claim 1, characterized in that: The frame includes a frame lower plate and a frame upper plate, the two plates are arranged in parallel and fixedly connected by a main body support, an arm fixing seat is also arranged between the frame lower plate and the frame upper plate, the arm fixing seat is used to install the arm, a battery mounting plate is arranged above the frame upper plate, a controller and a battery are fixedly connected to the battery mounting plate, and a two-axis joint mounting plate is arranged below the frame lower plate.

3. A fast-deployable rope-driven parallel robot for indoor handling according to claim 1, characterized in that: A landing gear is arranged at the bottom of the frame.

4. The fast-deployable rope-driven parallel robot for indoor transportation according to claim 1, characterized in that: The rope driving unit comprises a winch motor and a rope drum, wherein the winch motor is fixedly connected to a frame, the rope drum is arranged at an output end of the winch motor, and winch cover plates are arranged at both ends of the rope drum.

5. The fast-deployable rope-driven parallel robot for indoor transportation according to claim 1, characterized in that: The rope guide structure comprises a connecting main board, on which an arm connecting piece is arranged, and one side of the arm connecting piece is provided with an outer frame surrounded by an upper arm plate, a lower arm plate and a carbon tube clamp seat.

6. A fast-deployable rope-driven parallel robot for indoor transportation according to claim 5, characterized in that: A group of horizontally arranged inlet V-shaped bearings are rotatably connected to the top of the outer frame, a vertically arranged middle V-shaped bearing is arranged in the connecting main board, and a vertically arranged terminal V-shaped bearing group is arranged on the top of the connecting main board; the rope cooperates with the inlet V-shaped bearing, the middle V-shaped bearing and the terminal V-shaped bearing group in sequence.

7. A fast-deployable rope-driven parallel robot for indoor transportation according to claim 6, characterized in that: The inlet V-shaped bearing is arranged on the top of the outer frame through a bearing pressure block, the middle V-shaped bearing is rotatably connected to the connecting main board through a nylon column, the terminal V-shaped bearing group includes a rope outlet steering seat, the lower end of the rope outlet steering seat is a tubular structure, the tubular structure cooperates with the inner wall of the angular contact ball bearing, a hollow screw is arranged in the tubular structure, the angular contact ball bearing is fixed in the bearing seat, the bearing pressure plate is arranged at the opening below the bearing seat, and a gasket is arranged between the hollow screw and the bearing pressure plate.

8. The fast-deployable rope-driven parallel robot for indoor transportation according to claim 5, characterized in that: A horizontal guide seat is arranged above the upper plate of the machine arm, a guide ring seat is fixedly connected to the horizontal guide seat, a ceramic guide ring is fixedly connected to the guide ring seat, and a through hole for the rope to pass through is opened on the ceramic guide ring.

9. The fast-deployable rope-driven parallel robot for indoor transportation according to claim 5, characterized in that: The connecting main board is a two-plate structure, the two plates are arranged in parallel and connected by an aluminum column, and the arm connecting piece is located between the two plates.

10. The fast-deployable rope-driven parallel robot for indoor transportation according to claim 1, characterized in that: The two-axis rotating joint includes an end platform and a rotating frame. The end platform is arranged in the rotating frame and is connected to the rotating frame through an inner pan-tilt motor. The rotating frame is connected to the carbon fiber plate on the frame main body support through an outer pan-tilt motor. A carbon fiber tube is arranged at the bottom of the end platform, and an actuator mounting seat is arranged at the bottom of the carbon fiber tube.

Images