Pull-type flexible multi-joint parallel manipulator

Abstract

The utility model relates to the technical field of control systems, in particular to a pull-type flexible multi-joint parallel manipulator. The device comprises a rotating mechanism located at the top and three parallel telescopic mechanisms located on the periphery of the rotating mechanism, wherein the rotating mechanism comprises a gear motor I, a rotating shaft and a traction shaft; the telescopic mechanism comprises a gear motor II, a telescopic joint and a traction joint; the gear motor II is fixed below the mounting plate through a mounting seat and synchronously rotates along with the mounting plate; in addition, the traction joints of the three telescopic mechanisms converge downwards to the lower end of the traction shaft and form parallel nodes. A linkage structure of the rotating mechanism and the telescopic mechanism is improved, traction type flexible control of rotating and lifting is achieved, the parallel multi-joint mechanism is matched with the traction joint in the center, a rigid-flexible coupled mixed motion structure is formed, and the device is suitable for a spider man grabbing device scene with the limited space.

Description

Technical Field

[0001] This utility model relates to the field of control system technology, specifically to a traction-type flexible multi-joint parallel manipulator. Background Technology

[0002] In the field of Spider-Man robotic arms, the technology of using multi-joint robotic arms for linkage control has gradually matured. For example, Chinese patent publication number CN219466173U discloses a Spider-Man robotic arm, which includes a base, a mounting base, and three sets of drive motors. The drive motors are fixedly mounted on the base, and the drive motors are connected to the mounting base through a linkage assembly, which consists of connecting plates and connecting rods. However, the above solution still has the following problems to be solved: it requires the use of a robotic arm to perform rotational movements, and the rotational movements cannot achieve traction-based flexible control; if these requirements are met, it will occupy too much space, thus limiting the implementation of complex multi-degree-of-freedom movements; in addition, although this robotic arm is suitable for picking up flexible materials, it lacks stability when grasping or manipulating hard objects. Utility Model Content

[0003] The technical problem to be solved by this utility model is to overcome the shortcomings of the existing technology and provide a traction-type flexible multi-joint parallel manipulator.

[0004] The technical solution adopted in this utility model is as follows:

[0005] A traction-type flexible multi-joint parallel manipulator includes a rotating mechanism at the top and three parallel telescopic mechanisms located around the periphery of the rotating mechanism, wherein:

[0006] The rotating mechanism includes a geared motor I, a rotating shaft, and a traction shaft; the geared motor I is fixed to the mounting plate via a central flange, which is connected to the Spider-Man support frame; the end of the geared motor I is slidably connected to the traction shaft below through the rotating shaft passing through the mounting plate.

[0007] The telescopic mechanism includes a geared motor II, a telescopic joint, and a traction joint; the geared motor II is fixed to the bottom of the mounting plate by a mounting base and rotates synchronously with the mounting plate; the end of the geared motor II is equipped with a telescopic joint and controls the rotation of the telescopic joint; the telescopic joint extends outward along the periphery of the mounting plate, and the end of the telescopic joint is hinged downward to a traction joint.

[0008] In addition, the traction joints of the three telescopic mechanisms converge downwards to the lower end of the traction shaft and form a parallel node.

[0009] The linkage structure of the rotating mechanism and the telescopic mechanism is improved, traction type flexible control of rotation and lifting is realized, a plurality of joint mechanisms in parallel are used in cooperation with a central traction joint to form a rigid-flexible coupled hybrid motion structure, and the hybrid motion structure is suitable for a spiderman grabbing device scene with limited space. Specifically, the rotating mechanism at the top drives the parallel node to adjust in one degree of freedom, that is, to adjust the rotation direction; the three telescopic mechanisms at intervals of 60 degrees synchronously realize linkage control of lifting actions, and the drooping problem of the traction joint caused by gravity is eliminated; meanwhile, independent adjustment of the three speed reduction motors II is used to realize inclination angle control of the parallel node, and angle adjustment of the flexible gripper in a space range is realized.

[0010] In addition, the traction type flexible multi-joint parallel manipulator according to the above-mentioned technical scheme of the utility model can further have the following additional technical features:

[0011] According to an embodiment of the utility model, the parallel node is provided below with a flexible gripper, which is limited in rotation via the traction shaft and is controlled in lifting via the traction joint.

[0012] In the technical scheme, the traction shaft is used to drive rotation, the traction joint is used to lift and grab, and the position and posture of the flexible gripper can be adjusted by different telescopic degrees of different traction joints when necessary.

[0013] According to an embodiment of the utility model, the mounting plate is provided in the form of an impeller, the speed reduction motor I is located at the center of the impeller through a center flange, the speed reduction motor II is located at the blade of the impeller through a mounting seat, and the three groups of speed reduction motors II are arranged at intervals of 60 degrees.

[0014] The mounting plate of the technical scheme is provided in the form of an impeller, which can not only reduce the volume of the space occupied by the whole mounting plate, but also provide upward extension space for the signal lines of the speed reduction motors II below.

[0015] According to an embodiment of the utility model, the speed reduction motor I and the speed reduction motor II are each provided with a connection terminal connected with the signal lines outside; the speed reduction motor II is synchronously controlled in linkage through the signal lines.

[0016] In the technical scheme, the connection terminal serves as an interface of the speed reduction motor I and the speed reduction motor II with the PLC controller, is used for transmitting control signals, and controls the start, stop and speed of the speed reduction motor I and the speed reduction motor II through the connection terminal.

[0017] According to an embodiment of the utility model, the rotating shaft is provided in the form of a U shape, and the bottom center of the rotating shaft is provided with a mounting hole matched with the traction shaft.

[0018] In the technical solution, the rotation shaft arranged in the U shape is not easy to deform when bearing load due to the adoption of two parallel metal rods; the mounting hole is matched with the traction shaft to ensure that the rotation shaft can be accurately and stably installed on the traction shaft.

[0019] According to one embodiment of the utility model, the traction shaft is arranged in a T shape, and the top of the traction shaft is sleeved on the two sides of the U-shaped rotation shaft and arranged in a sliding manner.

[0020] In the technical solution, the T-shaped traction shaft increases structural rigidity and is not easy to bend when bearing longitudinal tension or pressure; the sliding connection of the T-shaped traction shaft and the U-shaped rotation shaft increases the contact area and provides multidirectional support.

[0021] According to one embodiment of the utility model, the traction joint is two parallel metal rods, and the periphery of the parallel joint node is provided with six hinge points matched with the metal rods.

[0022] In the technical solution, the parallel joint is composed of two parallel metal rods to realize structural stability; the six hinge points meet the requirement of relative movement of the metal rods in multiple directions to realize rotation and translation.

[0023] Compared with the prior art, the utility model has the following beneficial effects:

[0024] The utility model improves the linkage structure of the rotation mechanism and the telescopic mechanism to realize traction type flexible control of rotation and lifting, utilizes the multi-joint mechanism of parallel connection to cooperate with the traction joint at the center to form a rigid-flexible coupled hybrid motion structure, and is suitable for a scene of a spiderman grabbing device with limited space. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is a structural schematic view of the utility model.

[0026] In the figure: 1, speed reducer motor I; 2, center flange; 3, mounting plate; 4, rotation shaft; 5, traction shaft; 6, parallel joint node; 7, speed reducer motor II; 8, mounting seat; 9, telescopic joint; 10, traction joint. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0028] Embodiment 1

[0029] As Figure 1 The embodiment provides a traction type flexible multi-joint parallel manipulator, which comprises a rotating mechanism at the top and three parallel telescopic mechanisms at the periphery of the rotating mechanism, wherein:

[0030] The rotating mechanism comprises a speed reducer motor I1, a rotating shaft 4 and a traction shaft 5; the speed reducer motor I1 is fixed on a mounting plate 3 through a center flange 2, the center flange 2 is connected with a spiderman support frame; the tail end of the speed reducer motor I1 is connected with the traction shaft 5 below the mounting plate 3 through the rotating shaft 4 in sliding connection;

[0031] The telescopic mechanism comprises a speed reducer motor II 7, a telescopic joint 9 and a traction joint 10; the speed reducer motor II 7 is fixed below the mounting plate 3 through a mounting seat 8 and rotates synchronously with the mounting plate 3; the tail end of the speed reducer motor II 7 is provided with the telescopic joint 9 and controls the rotation of the telescopic joint 9, the telescopic joint 9 is arranged outward along the periphery of the mounting plate 3, and the tail end of the telescopic joint 9 is hingedly connected with the traction joint 10 downward;

[0032] In addition, the traction joints 10 of the three telescopic mechanisms converge downward to the lower end of the traction shaft 5 and form a parallel node 6.

[0033] The linkage structure of the rotating mechanism and the telescopic mechanism is improved, traction type flexible control of rotation and lifting is realized, the parallel multi-joint mechanism is used in cooperation with the central traction joint 10 to form a rigid-flexible coupling hybrid motion structure, and the structure is suitable for the scene of a spiderman grabbing device with limited space.

[0034] In addition, according to the traction type flexible multi-joint parallel manipulator provided in the above embodiment of the utility model, the following additional technical features can also be possessed:

[0035] According to one embodiment of the utility model, a flexible gripper is arranged below the parallel node 6, and the flexible gripper is limited in rotation through the traction shaft 5 and is controlled in lifting through the traction joint 10.

[0036] In the technical solution, the traction shaft 5 is used to drive rotation, the traction joint 10 is used to lift and grab, the telescopic degree of different traction joints 10 is different when necessary, and the pose adjustment of the flexible gripper is realized.

[0037] According to one embodiment of the utility model, the mounting plate 3 is arranged in the form of an impeller, the speed reducer motor I 1 is located at the center of the impeller through the center flange 2, and the speed reducer motor II 7 is located at the blade of the impeller through the mounting seat 8, and three groups of speed reducer motor II 7 are arranged at intervals of 60 degrees.

[0038] The mounting plate 3 is arranged in the form of an impeller, which can not only reduce the volume of the entire mounting plate 3 occupying space, but also provide upward extension space for the signal line of the speed reducer motor II 7 below.

[0039] According to one embodiment of the utility model, the speed reducer motor I 1 and the speed reducer motor II 7 are both provided with a connection terminal connected with the signal line outside; the speed reducer motor II 7 is controlled synchronously through the signal line.

[0040] In the technical solution, the connection terminal serves as the interface of the speed reducer motor I 1 and the speed reducer motor II 7 and the PLC controller, is used for transmitting control signals, and the PLC controller controls the start, stop and speed of the speed reducer motor I 1 and the speed reducer motor II 7 through the connection terminal.

[0041] According to one embodiment of the utility model, the rotating shaft 4 is arranged in the form of a U shape, and the bottom center of the rotating shaft 4 is provided with a mounting hole matched with the traction shaft 5.

[0042] In the technical solution, the rotating shaft 4 arranged in the form of a U shape is not easy to deform when bearing load due to the adoption of two parallel metal rods; the mounting hole is matched with the traction shaft 5, so that the rotating shaft 4 can be accurately and stably mounted on the traction shaft 5.

[0043] According to one embodiment of the utility model, the traction shaft 5 is arranged in the form of a T shape, and the top two sides of the traction shaft 5 are sleeved on the two sides of the U-shaped rotating shaft 4 and are arranged in a sliding manner.

[0044] In the technical solution, the traction shaft 5 arranged in the form of a T shape increases structural rigidity, so that it is not easy to bend when bearing longitudinal tension or pressure; the T-shaped traction shaft 5 is connected in a sliding manner with the U-shaped rotating shaft 4, so that the contact area is increased and multidirectional support is provided.

[0045] According to one embodiment of the utility model, the traction joint 10 is arranged in the form of two parallel metal rods, and the circumference of the parallel joint 6 is provided with six hinge points matched with the metal rods.

[0046] In the technical solution, the parallel joint is composed of two parallel metal rods, so that the stability in structure is realized; the six hinge points meet the requirement of relative movement of the metal rods in multiple directions, so that rotation and translation and other actions are realized.

[0047] The use process of the above embodiment is as follows: as Figure 1As shown, the rotating mechanism at the top is driven by a speed reducer motor I 1, which drives the traction shaft 5 to rotate through the rotating shaft 4, so as to adjust the rotating direction of the parallel node 6; three parallel telescopic mechanisms, each of which is controlled by a speed reducer motor II 7, drives the telescopic joint 9 to rotate and extend along the circumference of the mounting plate 3, and the traction joint 10 at the end of the telescopic joint 9 realizes multidirectional movement through the hinge point; the three telescopic mechanisms are synchronously lifted to eliminate the gravity sag, and the inclination angle control of the parallel node 6 is realized by independent adjustment; the flexible clamping jaw is installed below the parallel node 6, rotates with the traction shaft 5 and is lifted and controlled by the traction joint 10, and the pose is adjusted by the extension degree of different telescopic joints 9; the PLC controller controls the start, stop and speed of each speed reducer motor through the connection terminal, realizes the accurate control of the whole manipulator, and is suitable for the scene of the spiderman grabbing device with limited space.

[0048] It should be noted that: the utility model only improves the hardware structure, and does not improve the algorithm of the PLC controller, which meets the object requirements of the utility model.

Claims

1. A flexible multi-joint parallel manipulator of the tractor type, characterized in that, It comprises a rotating mechanism at the top and three parallel telescopic mechanisms at the circumference of the rotating mechanism, wherein: The rotating mechanism comprises a speed reducer I (1), a rotating shaft (4) and a traction shaft (5); the speed reducer I (1) is fixed on the mounting plate (3) through the center flange (2) connected with the Spiderman support frame; the end of the speed reducer I (1) penetrates the mounting plate (3) through the rotating shaft (4) and is slidably connected with the traction shaft (5) below; The telescopic mechanism comprises a speed reducer II (7), a telescopic joint (9) and a traction joint (10); the speed reducer II (7) is fixed below the mounting plate (3) through the mounting seat (8) and rotates synchronously with the mounting plate (3); the end of the speed reducer II (7) is provided with the telescopic joint (9) and controls the rotation of the telescopic joint (9), the telescopic joint (9) is arranged outward along the circumference of the mounting plate (3), and the end of the telescopic joint (9) is hingedly provided with the traction joint (10) downward; In addition, the traction joints (10) of the three telescopic mechanisms converge downward to the lower end of the traction shaft (5) and form a parallel node (6).

2. The overhauling flexible multi-joint parallel manipulator according to claim 1, wherein, The flexible clamping jaw is arranged below the parallel node (6) and is limited in rotation through the traction shaft (5) and controlled in lifting through the traction joint (10).

3. The overhauling flexible multi-joint parallel manipulator according to claim 1, wherein The mounting plate (3) is arranged in the form of an impeller, the speed reducer I (1) is located at the center of the impeller through the center flange (2), the speed reducer II (7) is located at the blade of the impeller through the mounting seat (8), and the three groups of speed reducers II (7) are arranged at intervals of 60°.

4. The overhauling flexible multi-joint parallel manipulator according to claim 1, wherein The speed reducer I (1) and the speed reducer II (7) are both provided with a connection terminal connected with an external signal line; the speed reducers II (7) are synchronously controlled through the signal line.

5. The overhauling flexible multi-joint parallel manipulator according to claim 1, wherein The rotating shaft (4) is arranged in the form of a U-shaped, and the bottom center of the rotating shaft (4) is provided with a mounting hole matched with the traction shaft (5).

6. The overhauling flexible multi-joint parallel manipulator according to claim 5, wherein The traction shaft (5) is arranged in the form of a T-shaped, and the two sides of the top of the traction shaft (5) are sleeved in the two sides of the U-shaped rotating shaft (4) and are arranged in sliding connection.

7. The overhauling flexible multi-joint parallel manipulator according to claim 1, wherein The traction joint (10) is in the form of two parallel metal rods, and the circumference of the parallel node (6) is provided with six hinge points matched with the metal rods.

Images