Three-degree-of-freedom parallel robot for carrying artillery boxes

Abstract

The utility model belongs to the technical field of robots, and provides a three-degree-of-freedom parallel robot for carrying artillery boxes, which comprises a first revolute pair, a first branch chain, a second branch chain, a third branch chain, a tenth revolute pair, an end effector and a frame. According to the three-degree-of-freedom parallel robot for carrying the artillery boxes, the three hinge points, connected with the rack, of the three branch chains are located on the same straight line, so that rotation and synchronous driving of the whole robot are achieved conveniently, and the flexibility of the mechanism is improved while the cost is reduced; wherein a revolute pair, connected with the rack, of the first branch chain is coaxial with a revolute pair, connected with the rack, of the second branch chain, and the hinge point of the third branch chain and the end effector and the coaxial axis form an off-line one-point relation, so that the end effector can easily achieve 90-degree overturning movement; motion decoupling is achieved, and control is simple.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a three-freedom parallel robot for carrying artillery powder boxes. Background Art

[0002] Currently, robots play an important role in areas such as handling, welding, and assembly. The robots commonly used for handling operations are primarily tandem robots. These robots offer advantages such as a large workspace and high flexibility, but they suffer from low rigidity. Low rigidity can lead to deformation of handling components, such as the robotic arm, during high-speed handling operations, reducing handling accuracy. Furthermore, low-rigidity equipment can vibrate at high speeds, affecting handling stability and making it difficult to operate in high-speed handling scenarios.

[0003] To address these shortcomings of serial-structured handling robots, parallel-structured handling robots have emerged. These robots utilize a multi-closed-loop parallel structure, offering advantages such as strong reconfigurability and excellent dynamic and static performance, making them suitable for high-speed handling applications. Despite this, current parallel handling robots still use the basic layout of traditional parallel mechanisms, where multiple branches converge at one end at the end effector and are distributed on the frame at the other end. This requires a large frame, hindering the flexible movement of the entire machine. Furthermore, the interlaced structure of the multiple branches makes it difficult for the parallel robot to rotate beyond 60 degrees in each direction, and the coupled motions make it difficult to control.

[0004] Due to structural and spatial constraints, artillery cartridges and projectiles are typically arranged perpendicularly at 90 degrees. After grasping the cartridge, the robot must flip it 90 degrees and quickly install it on the projectile tail rack. This requires the robot to possess the basic functionality of two rotations, as well as excellent performance such as flexibility, efficiency, and high speed without vibration. However, current parallel handling robots are limited by their chassis size and rotational capacity, making them unsuitable for handling artillery cartridges. Utility Model Content

[0005] In order to overcome the shortcomings of the existing technology, the utility model uses the principle of multi-axis overlap of planar parallel mechanisms to design a parallel mechanism that can achieve 90-degree flipping, is flexible, efficient and has high rigidity. The purpose is to provide a three-degree-of-freedom parallel robot for carrying artillery cartridges, thereby facilitating the realization of automated artillery firing.

[0006] The utility model provides a three-degree-of-freedom parallel robot for carrying artillery cartridges, comprising:

[0007] a first rotation pair, a first branch chain, a second branch chain, a third branch chain, a tenth rotation pair, an end effector, and a frame;

[0008] The first branch chain includes a second rotational pair, a third rotational pair, a fourth rotational pair, a first connecting rod and a second connecting rod; the second branch chain includes a fifth rotational pair, a sixth rotational pair, a seventh rotational pair, a third connecting rod and a fourth connecting rod; the third branch chain includes an eighth rotational pair, a ninth rotational pair and a first translation pair; the tenth rotational pair is provided on the end effector;

[0009] Among them, the first rotating pair is vertically hinged on the frame, one end of the first movable pair is connected to the first rotating pair through the eighth rotating pair, and the other end is connected to the end effector through the ninth rotating pair; the fourth rotating pair and the seventh rotating pair are hinged to the first rotating pair, one end of the first connecting rod is connected to the first rotating pair through the fourth rotating pair, and the other end is connected to the second connecting rod through the third rotating pair, and the second connecting rod is connected to the end effector through the second rotating pair and the tenth rotating pair; one end of the third connecting rod is connected to the first rotating pair through the seventh rotating pair, and the other end is connected to the fourth connecting rod through the sixth rotating pair, and the fourth connecting rod is connected to the end effector through the fifth rotating pair and the tenth rotating pair.

[0010] Furthermore, the first rotating pair is perpendicular to the ground, the axes of the second rotating pair, the third rotating pair, the fourth rotating pair, the fifth rotating pair, the sixth rotating pair and the seventh rotating pair are parallel to the axis of the first rotating pair; the axis of the eighth rotating pair is perpendicular to the axis of the first rotating pair, the axes of the ninth rotating pair and the tenth rotating pair are parallel to the axis of the eighth rotating pair; the axis of the second rotating pair is coaxial with the axis of the fifth rotating pair.

[0011] Furthermore, the eighth rotation pair is arranged above the frame.

[0012] Furthermore, a hinge point where the first branch chain is connected to the frame, a hinge point where the second branch chain is connected to the frame, and a hinge point where the third branch chain is connected to the frame are on the same straight line.

[0013] Furthermore, the axis of the fourth rotational pair and the axis of the seventh rotational pair are coaxial axes, and the hinge point between the third branch chain and the end effector forms an off-line point relationship with the coaxial axes.

[0014] Furthermore, when the three-degree-of-freedom parallel robot is working, the fourth rotational pair and the seventh rotational pair move simultaneously as active rotational pairs, but the fourth rotational pair and the seventh rotational pair move in opposite directions. At the same time, the first moving pair moves in coordination as the active moving pair to jointly realize the forward and backward movement of the end effector.

[0015] Furthermore, when the fourth rotation pair and the seventh rotation pair do not move and only the first translation pair moves, the end effector rotates along the tenth rotation pair, and the parts of the third branch chain perform motion coordination.

[0016] Furthermore, when the first rotational pair moves as an active rotational pair, the entire three-degree-of-freedom parallel robot rotates around the axis of the first rotational pair.

[0017] Furthermore, the end effector can realize one horizontal and two rotational motions.

[0018] Beneficial effects

[0019] Compared with the prior art, the present invention has the following advantages:

[0020] 1) The three hinge points connecting the three-degree-of-freedom parallel robot for transporting artillery cartridges to the frame of the utility model are on the same straight line, and the two hinge points connecting the planar parallel mechanism to the frame overlap, which facilitates the rotation and synchronous drive of the entire machine, reduces the use of motors, reduces costs, improves the flexibility of the mechanism, and reduces the space occupied;

[0021] 2) The revolute pair connecting the first branch and the frame and the revolute pair connecting the second branch and the frame are coaxial, and the hinge point between the third branch and the end effector forms a point-outline relationship with the coaxial axis, making it easy for the three-degree-of-freedom parallel robot of the present invention to achieve 90-degree flipping motion;

[0022] 3) It enables motion decoupling and simple control. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the overall structure of a three-degree-of-freedom parallel robot for carrying artillery cartridges provided by an embodiment of the present utility model;

[0024] Figure 2 This is a schematic diagram of a mid-plane parallel mechanism of a three-degree-of-freedom parallel robot for transporting artillery cartridges provided by an embodiment of the present utility model;

[0025] Figure 3 This is a schematic diagram of the third branch of a three-degree-of-freedom parallel robot for transporting artillery cartridges provided by an embodiment of the present utility model;

[0026] Figure 4 The utility model is provided in an embodiment of the present invention, which is a schematic structural diagram of a frame in a three-degree-of-freedom parallel robot for transporting artillery cartridges.

[0027] Figure numerals: 1. first rotating pair; 2. second rotating pair; 3. third rotating pair; 4. fourth rotating pair; 5. fifth rotating pair; 6. sixth rotating pair; 7. seventh rotating pair; 8. eighth rotating pair; 9. ninth rotating pair; 10. tenth rotating pair; 11. first connecting rod; 12. second connecting rod; 13. third connecting rod; 14. fourth connecting rod; 15. first moving pair; 16. end effector; 17. first branch chain; 18. second branch chain; 19. third branch chain; 20. frame. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be described in more detail below with reference to specific embodiments and the accompanying drawings, but the present invention is not limited thereto.

[0029] The various specific technical features described in the specific embodiments may be combined in any suitable manner, unless they are inconsistent. For example, different embodiments and technical solutions may be formed by combining different specific technical features. To avoid unnecessary repetition, the various possible combinations of the specific technical features in this utility model will not be described separately.

[0030] In the following description, the terms "first / second / ..." are used solely to distinguish different objects and do not imply any similarities or connections between the objects. It should be understood that the directions "above," "below," "outside," and "inside" refer to directions during normal use. The directions "left" and "right" refer to the left-right directions shown in the corresponding schematic diagrams, which may or may not be the left-right directions during normal use.

[0031] like Figure 1 As shown, the utility model provides a three-degree-of-freedom parallel robot for carrying artillery cartridges, comprising a first rotational pair 1, a tenth rotational pair 10, an end effector 16, a first branch chain 17, a second branch chain 18, a third branch chain 19 and a frame 20;

[0032] like Figure 2 As shown, the first branch chain 17 includes the second rotational pair 2, the third rotational pair 3, the fourth rotational pair 4, the first connecting rod 11 and the second connecting rod 12; the second branch chain 18 includes the fifth rotational pair 5, the sixth rotational pair 6, the seventh rotational pair 7, the third connecting rod 13 and the fourth connecting rod 14. Figure 3 As shown, the third branch chain 19 includes the eighth rotation pair 8, the ninth rotation pair 9 and the first moving pair 15. Figure 1 As shown, the tenth rotational pair 10 is arranged on the end effector 16 .

[0033] See also Figures 1 to 4The first rotating pair 1 is vertically hinged on the frame 20, one end of the first movable pair 15 is connected to the first rotating pair 1 through the eighth rotating pair 8, and the other end is connected to the end effector 16 through the ninth rotating pair 9; the fourth rotating pair 4 and the seventh rotating pair 7 are hinged on the first rotating pair 1, one end of the first connecting rod 11 is connected to the first rotating pair 1 through the fourth rotating pair 4, and the other end is connected to the second connecting rod 12 through the third rotating pair 3, and the second connecting rod 12 is connected to the end effector 16 through the second rotating pair 2 and the tenth rotating pair 10; one end of the third connecting rod 13 is connected to the first rotating pair 1 through the seventh rotating pair 7, and the other end is connected to the fourth connecting rod 14 through the sixth rotating pair 6, and the fourth connecting rod 14 is connected to the end effector 16 through the fifth rotating pair 5 and the tenth rotating pair 10.

[0034] The first rotational pair 1 is perpendicular to the ground. The axes of the second rotational pair 2, the third rotational pair 3, the fourth rotational pair 4, the fifth rotational pair 5, the sixth rotational pair 6, and the seventh rotational pair 7 are parallel to the axis of the first rotational pair 1. The axis of the eighth rotational pair 8 is perpendicular to the axis of the first rotational pair 1, and the axes of the ninth rotational pair 9 and the tenth rotational pair 10 are parallel to the axis of the eighth rotational pair 8. The axis of the first rotational pair 1 is perpendicular to the axes of the ninth rotational pair 9 and the tenth rotational pair 10. The axis of the second rotational pair 2 and the axis of the fifth rotational pair 5 are coaxial, and the axes of these two rotational pairs are parallel to the axis of the first rotational pair 1. The eighth rotational pair 8 is disposed above the frame 20. The axis of the fourth rotational pair 4 is coaxial with the axis of the seventh rotational pair 7, and the hinge point between the third branch chain and the end effector forms an off-line point relationship with this coaxial axis.

[0035] When the three-degree-of-freedom parallel robot for carrying artillery cartridges provided by the embodiment of the present invention is working, the fourth rotational pair 4 and the seventh rotational pair 7 move simultaneously as active rotational pairs, but the fourth rotational pair 4 and the seventh rotational pair 7 rotate in opposite directions, and the first mobile pair 15 moves in coordination as the active mobile pair, and together realizes the forward and backward movement of the end effector 16; when the fourth rotational pair 4 and the seventh rotational pair 7 do not move and only the first mobile pair 1 moves, the end effector 16 rotates along the tenth rotational pair 10, and the various parts of the third branch chain 19 coordinate their movements; when the first rotational pair 1 moves as the active rotational pair, the three-degree-of-freedom parallel robot rotates around the axis of the first rotational pair 1. Therefore, the end effector 16 of the present invention can realize one-axis two-axis movement and can realize the decoupling of the moving parts.

[0036] The above description of the present invention is merely illustrative and non-restrictive. Therefore, the embodiments of the present invention are not limited to the above-described specific embodiments. If those skilled in the art are inspired by this, they may make other changes or modifications without departing from the scope of protection of the present invention and the claims, and all such changes or modifications shall fall within the scope of protection of the present invention.

Claims

1. A three-degree-of-freedom parallel robot for carrying artillery cartridges, characterized in that: include: A first rotational pair (1), a first branch chain (17), a second branch chain (18), a third branch chain (19), a tenth rotational pair (10), an end effector (16), and a frame (20); The first branch chain (17) includes a second rotational pair (2), a third rotational pair (3), a fourth rotational pair (4), a first connecting rod (11) and a second connecting rod (12); the second branch chain (18) includes a fifth rotational pair (5), a sixth rotational pair (6), a seventh rotational pair (7), a third connecting rod (13) and a fourth connecting rod (14); the third branch chain (19) includes an eighth rotational pair (8), a ninth rotational pair (9) and a first moving pair (15); the tenth rotational pair (10) is provided on the end effector (16); The first rotating pair (1) is vertically hinged on the frame (20); one end of the first moving pair (15) is connected to the first rotating pair (1) through the eighth rotating pair (8), and the other end is connected to the end effector (16) through the ninth rotating pair (9); the fourth rotating pair (4) and the seventh rotating pair (7) are hinged on the first rotating pair (1); one end of the first connecting rod (11) is connected to the first rotating pair (1) through the fourth rotating pair (4), and the other end is connected to the second connecting rod (12) through the third rotating pair (3); the second connecting rod (12) is connected to the end effector (16) through the second rotating pair (2) and the tenth rotating pair (10); one end of the third connecting rod (13) is connected to the first rotating pair (1) through the seventh rotating pair (7), and the other end is connected to the fourth connecting rod (14) through the sixth rotating pair (6); the fourth connecting rod (14) is connected to the end effector (16) through the fifth rotating pair (5) and the tenth rotating pair (10).

2. The three-degree-of-freedom parallel robot for carrying artillery cartridges according to claim 1, characterized in that: The first rotating pair (1) is perpendicular to the ground; the axis of the second rotating pair (2), the axis of the third rotating pair (3), the axis of the fourth rotating pair (4), the axis of the fifth rotating pair (5), the axis of the sixth rotating pair (6) and the axis of the seventh rotating pair (7) are parallel to the axis of the first rotating pair (1); the axis of the eighth rotating pair (8) is perpendicular to the axis of the first rotating pair (1); the axis of the ninth rotating pair (9) and the axis of the tenth rotating pair (10) are parallel to the axis of the eighth rotating pair (8); the axis of the second rotating pair (2) and the axis of the fifth rotating pair (5) are coaxial.

3. The three-degree-of-freedom parallel robot for carrying artillery cartridges according to claim 1, characterized in that: The eighth rotating pair (8) is arranged above the frame (20).

4. The three-degree-of-freedom parallel robot for carrying artillery cartridges according to claim 1, characterized in that: The hinge point where the first branch chain (17) is connected to the frame (20), the hinge point where the second branch chain (18) is connected to the frame (20), and the hinge point where the third branch chain (19) is connected to the frame (20) are on the same straight line.

5. The three-degree-of-freedom parallel robot for carrying artillery cartridges according to claim 1, characterized in that: The axis of the fourth rotational pair (4) and the axis of the seventh rotational pair (7) are coaxial axes, and the hinge point between the third branch chain (19) and the end effector (16) forms an off-line point relationship with the coaxial axes.

6. The three-degree-of-freedom parallel robot for carrying artillery cartridges according to claim 1, characterized in that: When the three-degree-of-freedom parallel robot is working, the fourth rotational pair (4) and the seventh rotational pair (7) move simultaneously as active rotational pairs, but the fourth rotational pair (4) and the seventh rotational pair (7) rotate in opposite directions, and at the same time, the first moving pair (15) moves in coordination as an active moving pair, thereby jointly realizing the forward and backward movement of the end effector (16).

7. The three-degree-of-freedom parallel robot for carrying artillery cartridges according to claim 1, characterized in that: When the fourth rotational pair (4) and the seventh rotational pair (7) do not move and only the first movable pair (15) moves, the end effector (16) rotates along the tenth rotational pair (10), and the various parts of the third branch chain (19) perform motion coordination.

8. The three-degree-of-freedom parallel robot for carrying artillery cartridges according to claim 1, characterized in that: When the first rotational pair (1) moves as an active rotational pair, the entire three-degree-of-freedom parallel robot rotates around the axis of the first rotational pair (1).

9. The three-degree-of-freedom parallel robot for carrying artillery cartridges according to claim 1, characterized in that: The end effector can realize one horizontal and two rotational motions.

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