27 results about "Parallel manipulator" patented technology

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.

A medical device is disclosed. The medical device includes a parallel manipulator. The parallel manipulator has an end platform coupled to a surgical tool and a base platform coupled to a machine module. The machine module is coupled to the surgical tool by a transmission shaft disposed between the end platform and the base platform. The transmission shaft has a transmission yoke, a slider, a first link connected to the transmission yoke, a second link connected to the slider, and a universal joint connected between the first link and the second link.

The invention relates to a Tripteron-type parallel manipulator configured to provide three purely translational degrees of freedom by means of three orthogonal linear actuators and their respective parallelogram-shaped kinematic chains. The system incorporates an auxiliary active support arranged on the Z-axis, intended to apply an upward vertical force to the moving platform (11) in order to reduce the load borne by the kinematic chain and the main Z-axis actuator. This support can be implemented using electric or pneumatic actuators, elastic elements, or cable-driven mechanisms, allowing for active, passive, or semi-active operating modes.The integration of the auxiliary support increases the manipulator's load capacity, improves its dynamic stability, and reduces the mechanical demands on the vertical actuator, while maintaining the purely translational kinematics and structural characteristics of the original Tripteron unchanged.

The novel vertical five-degree-of-freedom parallel manipulator comprises a polishing platform, a support, a motor box, a first supporting chain, a second supporting chain, a third supporting chain, a fourth supporting chain and a fifth supporting chain x, y, z three The parallel mechanism can realize x, y Movement in one direction and rotation in two directions. The advantages of the present application are as follows: 1. The vertical structure makes the polishing platform have more space to cope with more complex situations; 2. The connecting rods used in the mechanism are all circular rods, instead of traditional square rods, which ensures the coherence of the overall motion of the mechanism; 3. The first supporting chain and the second supporting chain have the same structure, which reduces the manufacturing and assembly difficulty of the overall parallel mechanism.

The utility model discloses a kind of graphite box automatic sand blasting cleaning machines, belong to graphite box cleaning technical field, including rack, sand blasting chamber and the roller conveyor belt being set to be penetrated sand blasting chamber are set on the rack, sand blasting machine is fixedly installed on the rack outer side, parallel manipulator is fixedly installed on the rack and located in sand blasting chamber, visual positioning module is fixedly set on the parallel manipulator, sand blasting head and purge gas head are fixedly connected with sand blasting machine respectively by hose, sand blasting head and purge gas head are fixedly connected on parallel manipulator, sand collecting hopper is fixedly arranged on the rack and located below sand blasting chamber, sand blasting machine is connected with sand collecting hopper by sand return pipe.The utility model entire cleaning process does not need manual intervention, greatly reduce the labor intensity of operator, while avoiding that operator contacts dust generated in sand blasting process, protects the health of operator.

A construction robot for carrying out construction work on a construction site object includes a mobile platform, an end effector, where the end effector has a tool or a tool fitting and where the end effector has a contact element which is configured to contact the construction site object, a parallel manipulator, where the end effector and the mobile platform are connected to one another via the parallel manipulator, and a sensor system, where a pose of the end effector relative to the mobile platform is detectable by the sensor system.

The invention relates to a thin and long flexible cable vertical fatigue test device and method based on Delta parallel mechanical arms, and belongs to the field of cable laying. The device mainly comprises a driving system, an upper-layer test part and a lower-layer test part. By adopting the vertical design, the manufacturing cost and the occupied area are reduced. By introducing the Delta mechanism, the motion ability in the y-axis direction and the z-axis direction is achieved, and complex conditions such as sea waves and ocean currents can be truly simulated. In the structure, the gravity direction and the tension direction are consistent, and the calculation error and fatigue analysis accuracy are optimized. The device integrates tension and variable interval bending moment measurement functions, can obtain parameters such as bending rigidity and minimum bending radius in real time, and breaks through the limitation of traditional single index test. By combining the modularized elbow assembly and the control system, bending modes can be quickly switched, the bending deformation degree can be flexibly adjusted, force can be stably applied and monitored in real time, the test efficiency and the data reliability are optimized, and the device and the method are suitable for fatigue performance evaluation of the flexible test cable in a full-length range.

The application discloses a hybrid serial-parallel manipulator and a trajectory planning method thereof, and belongs to the field of production line equipment.The technical scheme of the application is as follows: a hybrid serial-parallel manipulator comprises a connecting frame, a sliding swing lever mechanism and two first linear driving mechanisms are installed on the connecting frame, the first linear driving mechanisms jointly drive the sliding swing lever mechanism to move, a connecting rod mechanism is installed at a swing end of the sliding swing lever mechanism, the connecting rod mechanism comprises at least two rod bodies connected in series through rotary pairs and / or moving pairs, one end of the connecting rod mechanism is hinged to the swing end of the sliding swing lever mechanism, and a material taking executor is installed at the other end of the connecting rod mechanism.The application has the beneficial effects that: through the combination of the parallel module and the serial module, the stability of the overall installation end of the manipulator is ensured, the carrying capacity of the overall manipulator is improved, the operation range of the manipulator is improved, the overall manipulator has multiple redundant degrees of freedom, the movement is more flexible, the trajectory of the manipulator is optimized, and the manipulator can operate more efficiently.

This invention provides a dynamic optimization method for a spatial parallel mechanism with lubrication gaps, considering interval parameters, relating to the field of industrial robot optimization. The method includes the following steps: S1: Establishing a spherical pair model with lubrication gaps; S2: Obtaining a three-degree-of-freedom spatial parallel mechanism dynamic model with lubrication gaps based on the constraints of the spatial parallel mechanism with lubrication gaps; S3: Setting the objective function, design variables, and upper and lower bounds of the design variables in the dynamic optimization process; S4: Introducing the variables set in S3 into the interval uncertainty optimization method to establish a dynamic optimization model considering interval uncertain parameters; S5: Solving the dynamic optimization model using the particle swarm optimization algorithm to obtain the optimal design variable x. This invention establishes a dynamic optimization model for a spatial parallel mechanism with lubrication gaps, considering interval uncertain parameters, reducing the impact of interval uncertain parameters on the dynamic characteristics of the mechanism, and improving the accuracy of the mechanism's dynamic response.

The application discloses a flexible parallel actuator device suitable for robot polishing operation, which comprises a shell assembly, a polishing pen assembly and a flexible driving mechanism; the shell assembly comprises an upper base and a lower base, the polishing pen assembly comprises a polishing pen body and a polishing head; the flexible driving mechanism comprises a plurality of flexible connecting rods and driving motors corresponding to the flexible connecting rods, one end of the flexible connecting rod is connected with the output end of the driving motor, the polishing pen body is provided with a connecting part, and the other end of the flexible connecting rod is connected with the connecting part; wherein the plurality of flexible connecting rods are arranged at intervals around the circumference of the polishing pen body, the plurality of driving motors are controlled to rotate to respectively drive the plurality of flexible connecting rods to deform, and then the extension, retraction and autorotation of the polishing pen body are cooperatively controlled. The flexible connecting rod with continuous deformation characteristics is adopted to replace the traditional rigid branch chain, so that the parallel actuator has the advantages of strong bearing capacity, stable configuration, flexible movement and high compliance.

The invention relates to a nuclear island pool foreign matter-oriented underwater salvage robot with a series-parallel mechanical arm and the series-parallel mechanical arm, and solves the problems that a mechanical arm of an existing nuclear power underwater salvage robot is relatively simple in structure, relatively single in carried salvage tool, relatively high in salvage efficiency and the like. The fishing success rate is low when the fishing tool is used for fishing foreign matters in pool corner areas and in various forms. The system comprises an underwater robot and a series-parallel mechanical arm, the series-parallel mechanical arm comprises a Delta parallel mechanical arm, a series mechanical arm and a fishing tool, the Delta parallel mechanical arm is provided with a static platform and a movable platform, and the static platform is connected with the underwater robot; the series mechanical arm comprises a connecting plate, a rotating platform, a first joint motor module, a second joint motor module fixing plate, a supporting plate, a second joint motor module, a right arm connecting plate, a left arm, a right arm, a tail end platform, a third joint motor module, a driving gear, a driven gear and a quick change device. The device is widely applied to salvage of foreign matters in nuclear island pools.

The application discloses a kind of automatic packing equipment of vertical packing of bagged product, it is related to bagged product packing technical field, including packing box conveying device, bagged product conveying device, pose recognition device, parallel manipulator, grab bagged product arrangement device and packing manipulator, packing manipulator includes: motion platform, it includes sequentially connected X-axis linear module, Z-axis linear module, Y-axis linear module and horizontal rotation module;Rotary drive unit is installed in the horizontal rotation module;Mechanical gripper is installed in the rotary drive unit;Wherein, after mechanical gripper takes out the product in the storage arrangement component, it is rotated around horizontal axis by horizontal rotation module drive, so that the product is erected, and then it is rotated around vertical axis by rotary drive unit drive, so that the product is rotated to target angle and then packing operation is carried out.The scheme improves packing efficiency, realizes posture flexible adjustment and guarantees packing stability.

The invention discloses a parallel manipulator driving device adaptive to a multi-section tunnel. The device comprises a static platform, a movable platform, a six-degree-of-freedom Stewart parallel driving assembly and an intelligent control module, the static platform is fixed to a shield tunneling machine body, and the movable platform is connected with a tunneling cutterhead through a rigid flange. After the control module receives target section parameters, the electro-hydraulic servo cylinders are controlled through a kinematics inverse solution algorithm to drive the branch chains to stretch out and draw back, the cutterhead is driven to achieve three-dimensional space movement, and various tunnel sections such as a circular section, an arch-shaped section and a rectangular section are accurately fitted. The device adopts a parallel mechanism design, the rigidity is improved by 5-10 times compared with a traditional series mechanism, and the problems that a traditional shield tunneling machine is single in section adaptation, complex in conversion and poor in tunneling stability are effectively solved in cooperation with force feedback and position closed-loop control. The tunnel section can be rapidly switched without disassembling equipment, the tunneling precision is smaller than or equal to + / -3mm, the adaptive section size range is 0.8 m-8m, the construction efficiency is remarkably improved, the equipment investment cost is reduced, and the method is suitable for multi-scene tunnel construction of roads, railways and the like.

The invention discloses a six-degree-of-freedom series-parallel mechanical arm containing a virtual motion center. The six-degree-of-freedom series-parallel mechanical arm comprises a mechanical arm body and a tail end parallel mechanism. The tail end parallel mechanism comprises a fixed platform, a sun wheel, a planet wheel, a planet wheel driving motor, a sliding block, a connecting rod and a movable platform. The sun gear is located at the lower end of the fixed platform, the three sliding blocks are distributed in the circumferential direction of the sun gear and can slide on the sun gear around the axis, each sliding block is provided with a planet gear driving motor, and an output shaft of each planet gear driving motor is connected with a planet gear meshed with the sun gear; the lower ends of the three sliding blocks are each rotationally connected with the upper end of a connecting rod, the lower ends of the three connecting rods are rotationally connected with the movable platform, the three connecting rods are distributed in a staggered mode in the space, and the axis of the sun gear and the intersection point of the three connecting rods and the rotating axes of the corresponding sliding blocks are virtual motion centers. The working point of the end effector coincides with the virtual rotation center. According to the mechanical arm, decoupling of the global position and the local posture of the end effector is achieved, and the flexibility is improved.

The present application relates to the technical field of device performance test, and more particularly to a 3D printing test device for teaching based on parallel manipulator and a test method thereof, which comprises a supporting mechanism, a parallel manipulator motion mechanism, a wire feeding mechanism, a printing head and a performance test module, and can meet the needs of printing test of different shapes of printing test pieces. Through the setting of the performance test module, the elastic deformation of the corresponding components of the manipulator motion mechanism and the thermal deformation of the printing head can be obtained. Through the independently set height camera, the actual position of the printing head of the 3D printing test device in the printing process can be obtained, and the motion error of the printing head can be further obtained. Through multiple tests and in combination with data processing methods such as regression analysis, the precision retention of the 3D printing test device under different printing conditions can be obtained. The present application can also be combined with the popular science education of teenagers for 3D printing, and become a test device integrating popular science education of teenagers and 3D printing performance test.

The invention discloses an intelligent weeding system based on a Delta parallel mechanical arm, which is characterized in that a navigation moving module is matched with an independently-driven four-wheel moving frame based on an intelligent navigation technology to carry out path dynamic planning and moving, and a weeding execution module is used for controlling a weeding part based on shoveling and cutting collaborative design to carry out fixed-point weeding based on the Delta parallel mechanical arm; the recognition and positioning module obtains an image of an area below the device through a binocular camera and conducts recognition and positioning of crops and weeds based on a YOLO frame. The mechanical arm control module controls movement and multi-mode adjustment of a mechanical arm based on a mechanical arm movement control algorithm. According to the method, crops and weeds are accurately distinguished through an advanced recognition algorithm, so that targeted weeding is completed, crop damage is reduced to the maximum extent, meanwhile, dynamic path planning is achieved through the automatic navigation technology, continuous weeding operation can be conducted on continuous land parcels, and the weeding efficiency is improved. And an effective technical solution is provided for realizing accurate, autonomous and environment-friendly weed control in a complex environment.

The invention provides a cooperative control system and robot for high-precision heavy disassembly, and relates to the technical field of engineering machinery automation. The cooperative control system comprises a main controller, a parallel mechanical arm linear walking module, a contact type vertical tool setting module and a laser ranging module. The parallel mechanical arm linear walking module drives the cutting execution tail end to conduct high-rigidity linear feeding along a preset path through a space parallel closed-loop connecting rod mechanism, the contact type vertical tool setting module obtains vertical reference data through physical contact, and the laser ranging module monitors distance data in real time. The main controller is configured to calibrate the initial attitude based on the vertical reference data and correct the feed depth in real time according to the distance data. The robot adopts a crawler-type walking chassis and a sunken electrical cabinet, so that the problems of insufficient rigidity and poor environmental adaptability of heavy disassembly are solved.

The invention discloses a super-redundant series-parallel mechanical arm obstacle avoidance and trajectory planning method based on null space, and belongs to the technical field of robot motion planning. The invention aims to solve the problem that the super-redundant series-parallel mechanical arm can effectively avoid obstacles in the operation process in a complex environment. The method comprises the following steps: setting various parameters of a six-degree-of-freedom parallel mechanism module; representing the distance from a certain point to an obstacle in the working environment by adopting a pseudo distance; updating a corresponding Jacobian matrix based on the current actual mechanical arm configuration; constructing a total series Jacobian matrix of the whole mechanism through speed recursion and a vector product method; constructing a criterion function for evaluating the approaching degree of an obstacle and the mechanical arm, and constructing a criterion function for evaluating the approaching stroke limit of a joint; carrying out numerical solution and discretization integration of speed-level inverse kinematics of the whole mechanism so as to update joint variables; and solving and updating a homogeneous transformation matrix and a tail end pose of an upper hinge point coordinate system and a lower hinge point coordinate system of each module in a base coordinate system by using overall mechanism forward kinematics, and carrying out iterative calculation.

A medical device is disclosed. The medical device includes a shaft motor, a parallel manipulator, a receiving yoke, a slider, and a transmission yoke. The shaft motor is configured to generate a mechanical force for manipulating a surgical tool. The parallel manipulator includes an end platform for supporting the surgical tool, a base platform for supporting the shaft motor, and a plurality of arms coupled between the end platform and the base platform. The plurality of arms are configured to control movement of the end platform. The receiving yoke is coupled to the surgical tool. The slider is slidingly engaged to the shaft motor and is configured to receive the mechanical force. The transmission yoke is coupled to the slider and the receiving yoke and is configured to transmit the mechanical force to the receiving yoke.

A kind of laser powder bed additive-subtractive composite manufacturing process and equipment, including machine tool bed and the sealing cover connected above it, additive powder feeding mechanism, powder recycling mechanism are connected in machine tool bed, sealing cover interior is connected with powder spreading mechanism, screw motor module and parallel manipulator on it, tool magazine and hydraulic locking mechanism, laser light source is connected above sealing cover, additive part consisting of additive powder feeding mechanism, powder recycling mechanism, laser light source and powder spreading mechanism realizes L-PBF process, subtractive part consisting of screw motor module, parallel manipulator, tool magazine and hydraulic locking mechanism realizes subtractive machining;The laser powder bed and parallel manipulator of the present application are combined, improve overall processing efficiency and reduce the manufacturing defects caused by the heat dissipation of additive process, reduce the influence brought by vibration when subtractive machining, and set preheating slow cooling mechanism and elastic sealing mechanism, realize the adjustment of thermal history in ASHM process and the protection of normal operation of motor.

The invention relates to the technical field of robots, in particular to a kinematics inverse solution method for parallel mechanical arms. The method comprises the following steps: acquiring a central point pose of an upper hinge of an ith first offset hinge, and acquiring a central point pose of a lower hinge of an ith second offset hinge; determining the length function of the ith connecting rod assembly between the corresponding first offset hinge and the second offset hinge according to the central point position posture and the central point position posture; according to the length function of each connecting rod assembly and a Newton iteration formula, determining a length optimal solution of each connecting rod assembly; the length optimal solution is the minimum value of the length of the connecting rod assembly. According to the parallel mechanical arm, the supporting strength and the structural stability of the whole mechanical arm are improved, and the optimal solution of the length of each connecting rod assembly can be determined.

The utility model provides a novel parallel manipulator, including static platform, dynamic platform and the manipulator assembly of connecting static platform and dynamic platform, the element between manipulator assembly is connected through first rotary connection mechanism, and the second rotary connection mechanism is connected between manipulator assembly and dynamic platform, first rotary connection mechanism and second rotary connection mechanism drive manipulator assembly and dynamic platform to multi -directional movement, the utility model discloses through setting first rotary connection mechanism and second rotary connection mechanism makes manipulator assembly and dynamic platform can multi -directional movement, greatly increased the motion flexibility and degree of freedom of manipulator, simultaneously, the design in the snatch piece can through the adsorption and release of sucking disc of snatch controller control, improved the precision and stability of workpiece snatch, in the maintenance aspect, because the modular design of each component, makes it more convenient and fast to troubleshoot and repair, reduces maintenance cost and enterprise's use cost.

The utility model relates to the technical field of traditional Chinese medicine picking, in particular to a traditional Chinese medicine picking machine which comprises a machine body, the machine body comprises a machine frame, a walking crawler belt mechanism is arranged at the bottom end of the machine frame, a control cabinet is arranged on the upper surface of the machine frame, a top plate is arranged at the top of the machine frame, and parallel manipulators are installed on the inner side of the top plate. And a tea picking sucker is arranged at the bottom end of the parallel manipulator. The rotating rod can be driven to rotate through operation of the motor, then the gear rotates along with the rotating rod and is meshed with the rack, the moving block can slide under the matching action of the rack and the gear, the connecting frame can drive the top plate to vertically move, and therefore the parallel manipulator and the tea picking suction cup can be lifted. When the parallel manipulator and the tea picking suction cup are used for picking traditional Chinese medicines, the picking requirements of the traditional Chinese medicines with different height sizes can be better met, and the picking effect and flexibility can be improved.

The invention discloses a plasma spraying device for wings and a control method of the plasma spraying device. The plasma spraying device comprises a movable base, a lead screw sliding block, an annular rail and a circumferential sliding block, and parallel manipulators are mounted on the circumferential sliding block; the parallel manipulator comprises a mechanical arm connecting platform and a tail end executing platform; three driven arm connecting rods are uniformly distributed and connected to the tail end execution platform, the tail end execution platform is connected with the driven arm connecting rods through driven arm universal joints, and a driven arm is fixed to each driven arm connecting rod; the circumferential sliding block is fixedly connected with the mechanical arm connecting platform through a plurality of connecting rods, and a lifting motor is installed on the mechanical arm connecting platform. A plasma spraying opening, a binocular vision camera and a structured light projector matched with the binocular vision camera are arranged at the bottom of the tail end execution platform. The method further comprises control steps of S1 to S8. The binocular vision ranging technology is combined with the parallel manipulator, and the manipulator can be completely attached to the surface of a wing with a complex curved surface and keep a fixed distance and angle for plasma spraying.

An integrated vessel with wave compensation capability for transportation of completed offshore wind turbines includes a wind turbine conveyor system, a dynamic positioning propeller system, and a six-degree-of-freedom parallel manipulator system, as well as a foundation monopile of a fixed wind turbine arranged in the hull; the completed offshore wind turbines are fixed on the wind turbine conveyor system by multiple wind turbine stabilizing blocks, and a clamping system is equipped in the six-degree-of-freedom parallel manipulator system. The invention uses the conveyor system to transfer and the clamping system to clamp the completed wind turbine, as well as the six-degree-of-freedom parallel manipulator system to transport, which reduces the difficulty of the operation, improves the automation of the installation process, and reduces the labor cost of the wind turbine installation; the invention reduces the difficulty of the installation process, and improves the efficiency of the wind turbine installation.

The application discloses a kind of redundant parallel manipulator motion planning method, system and robot based on quadratic programming and zero neural network, comprising the following steps: planning joint limited redundant parallel manipulator end effector expected motion trajectory;According to specific parallel manipulator, establish its corresponding quadratic programming control scheme;By solving the first order optimal condition of quadratic programming problem, the constraint optimization problem is converted into nonlinear equations;Nonlinear complement problem function is used to process the first order optimal condition of step three;Error monitoring function is constructed and zero neural network solver is designed;The results obtained are sent to lower computer, and parallel manipulator motion is driven.The application compared with other methods, neural network parameter is less and calculation time is reduced, solving precision is high, without training and iterative calculation, and joint limit avoidance function can be realized, guarantee the safety of parallel manipulator and the high-precision positioning of its end effector.