CN115922677A

CN115922677A - Self-propelled docking manipulator with six-degree-of-freedom heavy-load series-parallel attitude adjusting mechanism

Info

Publication number: CN115922677A
Application number: CN202310223662.4A
Authority: CN
Inventors: 薛渊; 曹凯; 刘世伟; 寇雪威
Original assignee: Harbin Institute of Technology
Current assignee: Harbin Institute of Technology
Priority date: 2023-03-09
Filing date: 2023-03-09
Publication date: 2023-04-07

Abstract

The invention relates to the field of manipulators, in particular to a self-propelled docking manipulator with a six-degree-of-freedom heavy-load series-parallel attitude adjusting mechanism, which comprises: a chassis; the first sliding table and the second sliding table are arranged on the chassis and arranged at intervals along a first direction; the first sliding table and the second sliding table can slide in the vertical first direction and the vertical second direction; a first telescopic arm is arranged on the first sliding table, and a second telescopic arm is arranged on the second sliding table; the telescopic arm can slide along with the sliding table in the first direction and a second direction perpendicular to the first direction; the telescopic arm can be telescopic in a third direction; an annular fixture is arranged at the top end of the first telescopic arm, and the annular fixture comprises a rotary driving piece, so that the annular fixture can carry the mounted object to rotate along the central axis of the annular fixture. The scheme of the invention reduces the structural complexity and the structural height.

Description

Self-propelled docking manipulator with six-degree-of-freedom heavy-load series-parallel posture adjusting mechanism

Technical Field

The invention relates to the field of manipulators, in particular to a self-propelled docking manipulator with a six-degree-of-freedom heavy-load series-parallel posture adjusting mechanism.

Background

With the deep development of intelligent technology, intelligent equipment is widely applied in many fields. The high-precision automatic butt joint and loading and unloading equipment of large equipment has wide application prospect, for example, in a large laboratory, heavy-weight and large-volume instruments and equipment need frequent high-precision butt joint installation and unloading; in a nuclear radiation dangerous environment, when a large-sized precision instrument with large weight and large volume is installed and maintained, the large-sized precision instrument needs to be butt-jointed, installed and disassembled with high precision; in assembly plants, large components of large weight and volume require precise docking and installation. To realize these functions, a high-precision posture adjustment mechanism having 6 degrees of freedom with large rigidity is required, which has a robot capable of gripping a large volume and a large weight. For this reason, it is not possible to use conventional hoisting equipment or some light-weight machinery.

Disclosure of Invention

The invention aims to provide the installation and butt-joint device which can realize quick carrying and accurate butt joint, can perform installation operation in a narrow space, can adapt to different devices and has strong universality.

Specifically, the invention provides a self-propelled docking manipulator with a six-degree-of-freedom heavy-load series-parallel posture adjusting mechanism, which comprises:

a chassis;

the first sliding table and the second sliding table are arranged on the chassis and arranged at intervals along a first direction; the first sliding table and the second sliding table can slide in the first direction and a second direction perpendicular to the first direction;

a first telescopic arm is arranged on the first sliding table, and a second telescopic arm is arranged on the second sliding table; the first telescopic arm can slide along with the first sliding table in the first direction and a second direction perpendicular to the first direction; the second telescopic arm can slide along with the second sliding table in the first direction and a second direction perpendicular to the first direction; wherein the first telescopic arm and the second telescopic arm are both telescopic in a third direction perpendicular to the first direction and the second direction;

a first annular fixture is arranged at the top end of the first telescopic arm, and a second annular fixture is arranged at the top end of the second telescopic arm; the first annular fixture and the second annular fixture are used for fixing an object to be mounted; the first annular clamp comprises a first rotary drive; the second ring clamp comprises a second rotary drive such that the first and second ring clamps can rotate along the central axis of the first and second ring clamps carrying the mounted object.

In one embodiment, the first sliding table comprises a first layer platform I, a first guide part I, a second layer platform I, a second guide part I, a first driving cylinder and a second driving cylinder I; the first driving cylinder is used for driving the first layer platform I to move along the first guide part I relative to the chassis in a first direction; the second driving cylinder I is used for driving the second layer platform I to move along the second guide component I relative to the first layer platform I in a second direction.

In one embodiment, the second sliding table comprises a first layer platform II, a second guide part II and a second driving cylinder II; the second driving cylinder II is used for driving the second layer platform II to move along a second guide part II relative to the first layer platform II in a second direction; the first sliding table and the second sliding table are connected through a pull rod, and the second sliding table moves in the first direction and is realized by driving the pull rod through the first sliding table.

In one embodiment, the first driving cylinder comprises a power machine I, a support I and a nut seat I, the support I comprises two supports I, the two supports I are arranged on the chassis in parallel at intervals, the nut seat I is arranged on the first layer of platform I, the power machine I is fixed on one support I, an output shaft of the power machine I is connected with one end of a lead screw and can drive the lead screw to rotate, the other end of the lead screw can be rotatably supported on the other support I, a nut is arranged on the nut seat I, and the nut is sleeved on the outer side of the lead screw.

In one embodiment, the first telescopic arm comprises a first knuckle arm and a second knuckle arm, the second knuckle arm being nested within the first knuckle arm and being axially movable relative to the first knuckle arm under the influence of the drive mechanism.

In one embodiment, the driving mechanism is fixed on the first arm, the first telescopic arm further comprises a telescopic arm lead screw and a telescopic arm nut, wherein the telescopic arm lead screw is rotatably connected with the first arm, and can be driven by the driving mechanism, and the telescopic arm nut is fixedly connected with the second arm, and is sleeved on the telescopic arm lead screw.

In one embodiment, the driving mechanism is connected with the telescopic arm screw rod through a transmission mechanism, the transmission mechanism comprises a main bevel gear and a slave bevel gear, wherein the main bevel gear is connected with an output shaft of the driving mechanism, and the slave bevel gear is fixedly connected with the tail end of the telescopic arm screw rod; the diameter of the main bevel gear is smaller than that of the secondary bevel gear.

In one embodiment, a circular opening is formed in the upper end of the second knuckle arm, a rotating column is rotatably connected in the circular opening, an opening is formed in the bottom end of the rotating column, the top end of the telescopic arm lead screw is inserted into the opening, and the rotating column forms a rotating support for the telescopic arm lead screw; and the top end of the rotating column is fixedly connected with a top lug seat which is used for being connected with the first annular fixture.

In one embodiment, a lateral ear seat is connected to the side of the top ear seat, and the lateral ear seat is hinged with one end of the pull rod; the second telescopic arm is the same as the first telescopic arm in structure, and the other end of the pull rod is hinged with the lateral ear seat of the second telescopic arm.

In one embodiment, the first rotary drive is a third drive cylinder, and the first ring clamp further comprises a support base, a guide trolley and a ring rail, wherein the ring rail is rotatable along the support base under the guidance of the guide trolley by the third drive cylinder.

The aspect of the present invention has the following effects.

By adopting the scheme, the first sliding table and the second sliding table synchronously move in the X or Y direction to realize the movement of the mounted object in the X or Y direction; the rotation of the mounted object around the Z direction is realized through asynchronous movement of the first sliding table and the second sliding table in the X direction; the movement of the mounted object in the Z direction is realized through the synchronous extension of the first telescopic arm and the second telescopic arm; rotation around the X direction is realized through asynchronous extension of the first telescopic arm and the second telescopic arm; the rotation around the Y direction is realized by the driving of the first rotary driving piece and/or the second rotary driving piece. The scheme is suitable for butt joint installation of objects with large loads and large volumes, and the first sliding table and the second sliding table are separated, so that the scheme can be suitable for objects to be installed with large lengths.

The device is light in weight and high in rigidity, a series mechanism with 6 degrees of freedom in the prior art generally needs a 6-layer structure, and the six-degree-of-freedom posture adjusting mechanism adopts a series-parallel mechanism which is simultaneously applied in series and parallel. Reduced structural complexity, reduced height, reduced weight and increased stiffness.

The installation precision is high, the chassis can drive to the position near the installation position by adopting a steering wheel to be initially in place, and after the initial in-place, the six-freedom-degree posture adjusting mechanism arranged on the chassis is used for adjusting, so that the high-precision installation can be obtained. In addition, the chassis supporting legs and the adjusting mechanism have good rigidity characteristics, vibration in the installation process is reduced, and guarantee is provided for high-precision installation.

The efficiency is high, the chassis adopts the steering wheel, the initial in-place speed is high, and the efficiency is improved.

By adopting the scheme, the first sliding table, the second sliding table, the first telescopic arm, the second telescopic arm and the pull rod form a parallel mechanism. Two telescopic arms and a pull rod form a vertical trapezoidal pull rod mechanism, and the degree of freedom of the pull rod in the Z direction and around the Y axis can be changed. Through changing the displacement of the second layer platform I of the front second sliding table, the angular displacement of the pull rod in the Y direction and around the Z axis direction can be changed, the pull rod is still relative to the installed object all the time, and the degree of freedom of the pull rod is changed, namely the degree of freedom of the installed object is changed in an equivalent manner.

Drawings

FIG. 1 is an overall structural view of a robot arm of the present invention;

FIG. 2 is a partial view of the first slide, first telescoping arm and link assembly of the present invention;

FIG. 3 is a structural view of a first slide table of the present invention;

FIG. 4 is a structural view of a second slide table of the present invention;

FIG. 5 is a cross-sectional view of a first telescoping arm of the present invention;

FIG. 6 is a front view of the ring clamp of the present invention;

FIG. 7 is a rear view of the ring clamp of the present invention;

FIG. 8 is a view showing the structure of the supporting base according to the present invention;

FIG. 9 is a view showing the construction of a guide block of the present invention, wherein A is an overall view and B is a view with rollers removed;

FIG. 10 is a view of another guide block of the present invention;

FIG. 11 is a view of the base structure of the guide rail of the present invention;

FIG. 12 is a front end rail configuration of the present invention;

FIG. 13 is a rear end guide track configuration of the present invention;

FIG. 14 is an X-axis and Z-axis adjustment view of the robot of the present invention;

FIG. 15 is a schematic view of the robot of the present invention translating with the slide table in the X direction; wherein the left side is an initial state; the right side is the second layer platform I after displacement is generated in the X direction;

FIG. 16 is an X-axis and Y-axis adjustment view of the robot of the present invention;

FIG. 17 is a schematic diagram showing the change of displacement with the stroke of the telescopic arm during fine adjustment of the robot according to the present invention, in which the left side is an initial state; the right side is after the telescopic arm produces the displacement in the Z direction.

In the figure:

100 chassis, 101 steering wheel, 102 support legs, 200 first sliding platform, 210 first layer platform I, 2101 first layer platform II, 220 second layer platform I, 2201 second layer platform II, 230 first guide part I, 2301 first guide part II, 240 first driving cylinder, 241 nut seat I, 242 support I, 243 power machine I, 250 second guide part I, 2501 second guide part II, 260 second driving cylinder I, 2601 second driving cylinder II, 261 nut seat II, 262 support II, 263 II, 290 second sliding platform, 300 first telescopic arm, 310 first joint arm, 320 second joint arm, 330 driving mechanism, 331 main bevel gear, 332 secondary bevel gear 341 telescopic arm screw, 342 telescopic arm nut, 343 bearing, 350 rotary column, 351 retaining ring, 360 top ear seat, 370 side ear seat, 390 second telescopic arm, 400 first ring-shaped fixture, 410 support seat, 411 bottom wall, 412 side wall, 413 connecting hole, 414 connecting piece, 415 ear seat hole, 420 guide pulley, 421 supporting part, 422 arc wheel frame, 423 idler wheel, 430 ring-shaped guide rail, 431 guide rail base, 432 front end guide rail, 4321 arc plate I, 4322 flange I, 433 connecting arm, 434 rear end guide rail, 4341 arc plate II, 4342 flange II, 435 fastening belt, 440 third driving cylinder, 490 second ring-shaped fixture, 500 pull rod, 600 mounted object.

Detailed Description

In order to make the technical solution and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments. Some of the technical terms and phrases referred to herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

The invention discloses a self-propelled docking manipulator with a six-degree-of-freedom heavy-load series-parallel posture adjusting mechanism, which comprises a chassis 100 as shown in a figure 1-2; the first sliding table 200 and the second sliding table 290 are arranged on the chassis 100, and the first sliding table 200 and the second sliding table 290 are arranged at intervals along a first direction;

a first telescopic arm 300 is arranged on the first sliding table 200, and a second telescopic arm 390 is arranged on the second sliding table 290; wherein the first telescopic arm 300 is slidable with the first slide table 200 in the first direction and a second direction perpendicular to the first direction; wherein the second telescopic arm 390 is slidable with the second sliding table 290 in the first direction and a second direction perpendicular to the first direction; (the first and second directions are, for example, Y and X directions both in a horizontal plane);

wherein the first and second telescoping

arms

300, 390 are each extendable and retractable in a third direction (e.g., a vertical Z-direction) perpendicular to the first and second directions;

a first ring clamp 400 is arranged at the top end of the first telescopic arm 300, and a second ring clamp 490 is arranged at the top end of the second telescopic arm 390; the first and

second ring clamps

400 and 490 are used to fix the mounted object 600; the first ring clamp 400 comprises a first rotary drive and the second ring clamp 490 comprises a second rotary drive, such that the first ring clamp 400 and the second ring clamp 490 can rotate the mounted object 600 along the central axis of the first ring clamp 400 and the second ring clamp 490 (i.e. parallel to the first direction Y).

With such a scheme, the first sliding table 200 and the second sliding table 290 synchronously move in the X or Y direction to realize the movement of the mounted object 600 in the X or Y direction; the rotation of the mounted object 600 around the Z direction is realized by asynchronous movement of the first sliding table 200 and the second sliding table 290 in the X direction; the movement of the mounted object 600 in the Z direction is realized by the synchronous extension and retraction of the first telescopic arm 300 and the second telescopic arm 390; rotation around the X direction is achieved by asynchronous extension and retraction of the first telescopic arm 300 and the second telescopic arm 390; the rotation around the Y direction is realized by the driving of the first rotary driving piece and/or the second rotary driving piece.

While a typical 6-degree-of-freedom series mechanism generally requires a 6-layer structure, a parallel-series mechanism, in which series and parallel are simultaneously applied, is used in the present application. The structural complexity is reduced, the height is reduced, the weight is reduced, and the rigidity is improved; and adopt the first slip table 200 and the second slip table 290 that set up in front and back, both separate sets up not only can be applicable to the installation object 600 of great length, and the adjustment of three degrees of freedom can be realized to both cooperation actions.

In one embodiment, as shown in fig. 3, the first sliding table 200 includes a first deck platform I210, a first guide member I230, a second deck platform I220, a second guide member I250, a first driving cylinder 240, and a second driving cylinder I260; wherein, the first driving cylinder 240 is used for driving the first layer platform I210 to move along the first guiding component I230 in a first direction relative to the chassis 100; the second driving cylinder I260 is used for driving the second stage I220 to move along the second guiding component I250 in a second direction relative to the first stage I210.

Wherein the first guide part I230 comprises a first guide rail and a first slider and the second guide part I250 comprises a second guide rail and a second slider. The first guide rail is arranged on the bottom surface of the first layer platform I210 and is used for being connected with the chassis 100, and the first layer platform I210 moves in the X direction or the Y direction under the action of the first driving cylinder 240; the upper surface of the first layer platform I210 is provided with a second guide rail, the bottom surface of the second layer platform I220 is provided with a slide block which is in sliding connection with the second guide rail, and the second layer platform I220 can move in the Y direction or the Y direction under the action of a second driving cylinder I260. In fig. 3, the first layer stage I210 is movable in the Y direction with respect to the base plate 100, and the second layer stage I220 is movable in the X direction with respect to the first layer stage I210.

In one embodiment, the structure of the second sliding table 290 is substantially the same as that of the first sliding table 200, that is, the specific structure of the first sliding table 200 can be regarded as the description of the structure of the second sliding table 290.

In one embodiment, there is no component for driving the second sliding table 290 in the first direction, as shown in fig. 4, that is, only includes the first layer platform II2101, the second layer platform II2201, the second guiding component II2501 and the second driving cylinder II2601; the second driving cylinder II2601 is used to drive the second deck II2201 to move along the second guiding member II2501 in the second direction relative to the first deck II 2101. The first sliding table 200 and the second sliding table 290 are connected through a pull rod 500, and the second sliding table 290 moves in the Y direction by driving the pull rod 500 through the first sliding table 200.

By providing two stages and the above-described connection mechanism, it is possible to realize that the second stage I220 moves together with the first stage I210 in a first direction (for example, Y direction), and that the second stage I220 moves relative to the first stage I210 in a second direction (for example, X direction).

In one embodiment, the first driving cylinder 240 includes a power machine I243, a support I242 and a nut seat I241, the support I242 includes two supports I242 spaced apart from each other and arranged in parallel on the chassis 100, the nut seat I is arranged on the first floor platform I210, the power machine I243 is fixed on one support I242, an output shaft of the power machine I243 is connected with a lead screw, the lead screw can be driven to rotate, and the other end of the lead screw is rotatably supported on the other support I242. The nut seat I241 is provided with a nut, and the nut is sleeved on the outer side of the lead screw. In one embodiment, the second driving cylinder I260 has the same structure as the first driving cylinder 240, and its support II262 is fixed on the first layer platform I210, its nut seat II261 is fixed on the second layer platform I220, the power machine II263 is fixed on one support II262, the output shaft of the power machine II263 is connected with a lead screw which can be driven to rotate, and the other end of the lead screw is rotatably supported on the other support II 262.

In one embodiment, as shown in FIG. 5, first telescoping arm 300 (second telescoping arm 390 and first telescoping arm 300 are identical in construction) includes a first jointed arm 310 and a second jointed arm 320, with second jointed arm 320 being nested within first jointed arm 310 and axially movable relative to first jointed arm 310 by drive mechanism 330. The first knuckle arm 310 is fixed to the second floor platform I220. The driving mechanism 330 is fixed on the first arm segment 310, the first telescopic arm 300 further includes a telescopic arm lead screw 341 and a telescopic arm nut 342, wherein the telescopic arm lead screw 341 is rotatably connected with the first arm segment 310 and can be driven by the driving mechanism 330, and the telescopic arm nut 342 is fixedly connected with the second arm segment 320 and is sleeved on the telescopic arm lead screw 341. The driving mechanism 330 drives the telescopic arm lead screw 341 to rotate, and further drives the telescopic arm nut 342 to move relative to the telescopic arm lead screw 341, so that the second arm section 320 moves relative to the first arm section 310, and the telescopic arm is stretched. Wherein the telescopic arm screw 341 and the first arm 310 are rotatably connected through a bearing 343.

In one aspect, the driving mechanism 330 is connected to the telescopic arm screw 341 through a transmission mechanism, the transmission mechanism includes a main bevel gear 331 and a slave bevel gear 332, wherein the main bevel gear 331 is connected to an output shaft of the driving mechanism 330, and the slave bevel gear 332 is fixedly connected to an end of the telescopic arm screw 341. The diameter of the main bevel gear 331 is smaller than that of the slave bevel gear 332. By the engagement of the main bevel gear 331 and the sub bevel gear 332, the deceleration of the driving mechanism 330 is realized and the direction of rotation is changed, so that the driving mechanism 330 can be horizontally fixed on the first knuckle arm 310, saving space.

The upper end of the second arm 320 is provided with a circular opening, a rotary column 350 is rotatably connected in the circular opening, an opening is formed in the bottom end of the rotary column 350, the top end of the telescopic arm screw 341 is inserted into the opening, and the rotary column 350 forms a rotary support for the telescopic arm screw 341. A top ear seat 360 is fixedly connected to the top end of the rotary column 350 for connecting with the circular guide rail 430. A lateral ear seat 370 is connected to the lateral side of the top ear seat 360, the lateral ear seat 370 is hinged to one end of a pull rod 500, and the other end of the pull rod 500 is hinged to the lateral ear seat 370 of another telescopic arm (i.e. the first telescopic arm 300 and the second telescopic arm 390 are connected through the pull rod 500). A retainer ring 351 is sleeved on the outer side of the rotary column 350, the lower side of the retainer ring 351 is in contact with the second knuckle arm 320, and the upper side of the retainer ring is in contact with the top ear seat 360.

By adopting the scheme, the first sliding table 200, the second sliding table 290, the first telescopic arm 300, the second telescopic arm 390 and the pull rod 500 form a parallel mechanism, the first telescopic arm 300, the second telescopic arm 390 and the pull rod 500 form a vertical trapezoidal pull rod 500 mechanism, and the degree of freedom of the pull rod 500 in the Z direction and in the rotation around the X axis can be changed by adjusting the displacement of the first telescopic arm 300 and the second telescopic arm 390. By changing the displacement of the second stage I220 of the first sliding table 200 and the second sliding table 290, the angular displacement of the pull rod 500 in the Y direction and the direction around the Z axis can be changed. The pull rod 500 is always stationary relative to the mounted object 600, changing the degree of freedom of the pull rod 500, i.e., changing the degree of freedom of the mounted object 600 by the same amount. In conventional docking and attitude adjustment solutions, the sensor is usually required to be mounted on the mounted object 600. In the present invention, since the draw bar 500 is always relatively stationary with respect to the mounted object 600, the sensor can be directly disposed on the draw bar 500 without being disposed on the mounted object 600. Therefore, the pose information of the mounted object 600 can be directly judged through the pose information of the pull rod 500, so that the whole structure is more compact, and the sensor routing is optimized. In addition, after the installed object 600 is replaced, the sensor does not need to be installed again, calibration of the sensor is not needed, a large amount of time and cost are saved, and the risk of reduction of butt joint precision caused by calibration errors is avoided.

In one embodiment, the first layer platform I210 and the second layer platform I220 are provided with an opening penetrating in the thickness direction at the middle part, and the first telescopic arm 300 is installed in the opening; the middle parts of the first layer platform II2101 and the second layer platform II2201 are both provided with an opening penetrating in the thickness direction, and the second telescopic arm 390 is arranged in the opening. By adopting the scheme, the main body parts of the telescopic arm are all arranged in the opening, particularly in a contraction state, only the top ear seat 360 of the telescopic arm is exposed outside the opening, so that the size of the whole device in the height direction is greatly saved, and the space is fully utilized.

In one embodiment, the chassis 100 is equipped with steering wheels 101 to enable walking of the structure. Preferably, four steering wheels 101 are arranged on the chassis 100, the four steering wheels 101 are located at four corners of a rectangle, each steering wheel 101 can rotate 360 degrees, and the four steering wheels 101 jointly act to realize turning and running of the chassis 100 in any direction and any turning radius. For example, four steering wheels 101 travel in one direction, which can achieve translation of the chassis 100. In one embodiment, when the four sets of steering wheels 101 move in the same direction and at the same speed, the chassis 100 can move linearly. For steering movement, the three steering wheels 101 can be set as driving wheels, the fourth steering wheel 101 is set as driven wheels, no power is provided, and when the instant centers of movement of the three steering wheels 101 coincide by adjusting the movement directions and rotation speeds of the three driving steering wheels 101, the rotation movement of the chassis 100 around the instant center of movement can be realized. By adopting the scheme, the butt joint manipulator can automatically walk under the action of the control system and automatically butt joint with the posture adjusting mechanism.

In one embodiment, legs 102, such as four legs 102, are also provided below the chassis 100. In a butt joint working condition, the supporting legs 102 are used for improving the stability of the whole machine, and the steering wheel 101 is prevented from deforming due to loading, so that the butt joint precision is improved.

In one embodiment, as shown in fig. 6-13, the first rotary drive is a third drive cylinder 440, and the first ring clamp 400 further comprises a support base 410, a guide trolley 420 and a ring rail 430, wherein the ring rail 430 is rotatable along the support base 410 under the guidance of the guide trolley 420 by the third drive cylinder 440. In operation, the object 600 is fixed to the circular guide 430, and can rotate in a first direction (Y direction). The second ring clamp 490 may be identical in structure to the first ring clamp 400.

In one embodiment, the ring-shaped rail 430 includes a rail base 431, a fastening band 435, a front end rail 432 and a rear end rail 434, wherein the rail base 431 has an arc-shaped structure, the front end rail 432 and the rear end rail 434 are fixedly connected to the front and rear sides of the rail base 431, respectively, and the fastening band 435 also has an arc-shaped structure and is fixedly connected to two end surfaces of the rail base 431 to form a circular space capable of enclosing the object 600 to be installed.

Wherein, the front end guide rail 432 comprises an arc-shaped plate I4321 and a flange I4322 formed on the outer edge of the arc-shaped plate I4321 and extending along the direction vertical to the surface of the arc-shaped plate I4321; the rear end guide rail 434 comprises an arc-shaped plate II4341 and a flange II4342 formed by extending the outer edge of the arc-shaped plate II4341 along the direction vertical to the surface of the arc-shaped plate II 4341; after being assembled with the rail base 431, the flange I4322 of the front end rail 432 and the flange II4342 of the rear end rail 434 are oppositely disposed, so that the rail base 431, the front end rail 432 and the rear end rail 434 form an annular space for accommodating the guide trolley 420, and the outer circumference of the annular space has a gap (i.e., a gap between the two flanges) to communicate with the outside. One end of the driving cylinder is fixed on the supporting seat 410, and the other end of the driving cylinder is connected with the front end guide rail 432 or the rear end guide rail 434, so as to drive the annular guide rail 430 to rotate through extension and retraction.

In one embodiment, as shown in fig. 9, the guide pulley 420 includes a supporting portion 421, an arc-shaped wheel frame 422 and a roller 423, wherein the supporting portion 421 is fixedly connected to a middle section of the arc-shaped wheel frame 422, the arc-shaped wheel frame 422 includes two arc-shaped arms arranged side by side, and the supporting portion 421 is fixedly connected to the two arc-shaped arms and fixes the two arc-shaped arms. Through holes are formed in two ends of the arc-shaped arms, the rollers 423 are connected with the through holes through rotating shafts, and one rotating shaft penetrates through the two arc-shaped arms, so that the two rollers 423 opposite to the two arc-shaped arms are coaxially arranged (the two rollers form a group of rollers). The arc wheel frame 422 and the roller 423 are disposed in the annular space, and the outer circumference of the roller 423 is simultaneously in surface contact with the flange and the rail base 431. The interval less than or equal to of two arc arms the gap width, the gyro wheel interval of two arc arms with the end is greater than the gap width, supporting part 421 passes the gap with supporting seat 410 rotatable coupling. The number of the guide pulleys 420 is more than two. In one embodiment, as shown in fig. 10, more rollers 423, such as 4, may be provided on the arc arm.

In operation, the rollers 423 rotate between the track base 431 and the flange of the endless track 430, thereby allowing the endless track 430 to rotate relative to the support base 410. In addition, since the support 421 enables the guide block 420 to rotate integrally with respect to the support 410, when the circular guide rails 430 with different diameters are installed, the angle of the guide block 420 is adaptively adjusted, so that both the rollers 423 of the guide block 420 can be in close contact with the circular guide rails 430. In one embodiment, the diameter of the circular guide 430 is greater than 3 times the distance between the two rollers 423 at the two ends of the arc-shaped arm, and less than 6 times the distance between the two rollers 423, and the circular guide 430 within the diameter range can be replaced optionally.

In one embodiment, the support base 410 includes a bottom wall 411 and two sidewalls 412 (the cross-section forms a U-shaped structure) extending upward from two ends of the bottom wall. A connecting member 414 for connecting with the first telescopic arm 300 is disposed on the bottom wall 411 opposite to the side wall 412, and an ear seat hole 415 is disposed on the connecting member 414 for connecting with the top ear seat 360. The sidewalls 412 are provided at top portions of both ends thereof with connection holes 413 for connecting with the support portions 421 of the guide pulleys 420.

In one embodiment, a connecting arm 433 is disposed on the front end rail 432 or the rear end rail 434, and one end of the third driving cylinder 440 is connected to the supporting base 410, and the other end is connected to the connecting arm 433. In a preferred scheme, the connecting arm is disposed at an arc middle position of the arc plate I4321 of the front end guide rail 432 or an arc middle position of the arc plate II4341 of the rear end guide rail 434, the connecting arm 433 is a zigzag structure, and includes a first horizontal rod having one end perpendicularly connected to the surface of the arc plate I4321 or the arc plate II4341, a vertical rod perpendicularly connected to the other end of the first horizontal rod, and a second horizontal rod perpendicularly connected to the other end of the vertical rod, wherein the extending direction of the vertical rod is a direction away from a circle center of the arc plate I4321 or the arc plate II 4341. The other end of the third driving piece is rotatably connected with the second horizontal rod. With such a configuration, the connecting arm 433 forms a moment arm so that the driving force of the third driving cylinder 440 acts on the ring rail 430 through the moment arm, thereby increasing the rotation moment so that the smooth rotation of the ring rail 430 can be achieved with a smaller force.

The working method of the six-degree-of-freedom high-precision butt joint installation manipulator is described below with reference to the accompanying drawings.

The steering wheel 101 arranged on the chassis 100 can conveniently reach an installation butt joint place to be initially in place; after the initial positioning, the precise butt joint is carried out through the six-freedom-degree adjusting mechanism, and the butt joint efficiency and the butt joint precision are improved.

The working principle and the method of the six-freedom-degree butt joint mechanism are as follows:

1) The second driving cylinder I260 drives the second layer platform I220 to realize the X-direction movement of the first sliding table 200, the second driving cylinder II2601 drives the second layer platform II2201 to realize the X-direction movement of the second sliding table 290, and specifically, when the movement displacement of the second driving cylinder I260 of the first sliding table 200 and the movement displacement of the second driving cylinder II2601 of the second sliding table 290 are respectively the same, only the X-direction displacement of the mounted object 600 is changed.

When the traveling reverse displacements of the second driving cylinder I260 and the second driving cylinder II2601 are the same, that is, one of the first sliding table 200 and the second sliding table 290 moves in the positive direction of the X direction and the other moves in the negative direction of the X direction in the figure, the change of the angle of the mounted object 600 around the Z axis can be realized;

when the second driving cylinder I260 and the second driving cylinder II2601 are displaced differently in the same direction or differently in the opposite direction, the displacement in the X direction and the rotation angle around the Z axis of the mounted object 600 can be changed simultaneously. As shown in fig. 14 to 15, when the displacement of the first and second sliding tables 200 and 290 in the X direction is different by Δ X, the mounted object 600 will rotate about the Z axis by an angle Δ β. Since the length of the pull rod 500 is unchanged, the first sliding table 200 drags the second sliding table 290 to advance in the Y-axis direction by Δ Y2. In the docking system, with reference to the first slide table 200, although the second slide table 290 slides in the Y axis, the first slide table 200 does not slide in the Y axis direction, and therefore it is considered that the sliding in the X direction does not change the displacement of the mounted object 600 in the Y direction.

2) When the extension and displacement of the telescopic arms of the first sliding table 200 and the second sliding table 290 are respectively the same, only the Z-direction displacement of the mounted object 600 is changed, and when the reverse displacement of the telescopic arms of the first sliding table 200 and the second sliding table 290 is the same, only the rotation angle of the mounted object 600 around the X axis is changed; otherwise, the displacement of the mounted object 600 and the rotation angle around the X axis are changed simultaneously, and the structure is schematically shown in fig. 16 and 17, when the displacement of the first telescopic arm 300 and the second telescopic arm 390 in the Z direction is different by Δ Z, the mounted object will be displaced in the Z direction by Δ Z and rotated around the X axis by an angle Δ α. Since the length of the tie rod is constant, the first telescopic arm 300 pulls the second telescopic arm 390 by a displacement of Δ Y1, but since the first telescopic arm 300 does not move in the Y direction with reference to the first telescopic arm 300, it is considered that the mounted object 600 does not displace in the Y axis direction.

3) The Y-direction driving of the first sliding table 200 pushes the second stage I220 to move, so as to realize the Y-direction moving freedom.

4) The circular guide 430 is pushed by the driving cylinder of the circular clamp to rotate around the center line of the mounted object 600 to realize the rotation around the Y-axis.

During operation, the action of the mounted object 600 in the six-degree-of-freedom directions is adjusted according to the situation, so that the posture adjustment is realized, and the mounted object 600 is conveniently butted with other objects.

It should be noted that the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims

1. The utility model provides a self-propelled butt joint manipulator with six degrees of freedom heavy load series-parallel accent appearance mechanisms which characterized in that includes:

a chassis;

a first annular fixture is arranged at the top end of the first telescopic arm, and a second annular fixture is arranged at the top end of the second telescopic arm; the first annular fixture and the second annular fixture are used for fixing the mounted object; the first annular clamp comprises a first rotary drive; the second ring clamp comprises a second rotary drive such that the first and second ring clamps can rotate along the central axis of the first and second ring clamps carrying the mounted object.

2. The self-propelled docking manipulator with the six-degree-of-freedom heavy-load hybrid attitude adjusting mechanism according to claim 1, characterized in that: the first sliding table comprises a first layer of platform I, a first guide part I, a second layer of platform I, a second guide part I, a first driving cylinder and a second driving cylinder I; the first driving cylinder is used for driving the first layer platform I to move along the first guide part I relative to the chassis in a first direction; the second driving cylinder I is used for driving the second layer platform I to move along the second guide component I relative to the first layer platform I in a second direction.

3. The self-propelled docking manipulator with the six-degree-of-freedom heavy-load hybrid attitude adjusting mechanism according to claim 2, characterized in that: the second sliding table comprises a first layer of platform II, a second guide part II and a second driving cylinder II; the second driving cylinder II is used for driving the second layer platform II to move along a second guide part II relative to the first layer platform II in a second direction; the first sliding table and the second sliding table are connected through a pull rod, and the second sliding table moves in the first direction and is realized by driving the pull rod through the first sliding table.

4. The self-propelled docking manipulator with the six-degree-of-freedom heavy-load hybrid attitude adjusting mechanism according to claim 3, characterized in that: the first driving cylinder comprises a power machine I, a support I and a nut seat I, the two support I are arranged on the chassis in parallel at intervals, the nut seat I is arranged on the first layer of platform I, the power machine I is fixed on one support I, an output shaft of the power machine I is connected with one end of a lead screw and can drive the lead screw to rotate, the other end of the lead screw can be rotatably supported on the other support I, a nut is arranged on the nut seat I, and the nut is sleeved on the outer side of the lead screw.

5. The self-propelled docking manipulator with the six-degree-of-freedom heavy-load hybrid attitude adjusting mechanism according to claim 4, characterized in that: the first telescopic arm comprises a first section arm and a second section arm, and the second section arm is sleeved in the first section arm and can axially move relative to the first section arm under the action of the driving mechanism.

6. The self-propelled docking manipulator with the six-degree-of-freedom heavy-load hybrid attitude adjusting mechanism according to claim 5, characterized in that: actuating mechanism fixes on the first festival arm, first flexible arm still includes flexible arm lead screw and flexible arm nut, wherein flexible arm lead screw with first festival arm rotatable coupling, and can by actuating mechanism drives, flexible arm nut with second festival arm fixed connection, and the cover is established on the flexible arm lead screw.

7. The self-propelled docking manipulator with the six-degree-of-freedom heavy-load hybrid attitude adjusting mechanism according to claim 6, characterized in that: the driving mechanism is connected with the telescopic arm screw rod through a transmission mechanism, the transmission mechanism comprises a main bevel gear and a slave bevel gear, the main bevel gear is connected with an output shaft of the driving mechanism, and the slave bevel gear is fixedly connected with the tail end of the telescopic arm screw rod; the diameter of the main bevel gear is smaller than that of the secondary bevel gear.

8. The self-propelled docking manipulator with the six-degree-of-freedom heavy-load hybrid attitude adjusting mechanism according to claim 7, characterized in that: a round hole is formed in the upper end of the second knuckle arm, a rotary column is rotatably connected in the round hole, an opening is formed in the bottom end of the rotary column, the top end of a telescopic arm lead screw is inserted into the opening, and the rotary column forms a rotary support for the telescopic arm lead screw; and the top end of the rotating column is fixedly connected with a top lug seat which is used for being connected with the first annular clamp.

9. The self-propelled docking manipulator with the six-degree-of-freedom heavy-load hybrid attitude adjusting mechanism according to claim 8, characterized in that: a lateral ear seat is connected to the side of the top ear seat and is hinged with one end of the pull rod; the second telescopic arm is the same as the first telescopic arm in structure, and the other end of the pull rod is hinged to the lateral ear seat of the second telescopic arm.

10. The self-propelled docking manipulator with the six-degree-of-freedom heavy-load hybrid attitude adjusting mechanism as claimed in any one of claims 1 to 3, wherein: the first rotary driving piece is a third driving cylinder, the first annular fixture further comprises a supporting seat, a guide pulley and an annular guide rail, and the annular guide rail can rotate along the supporting seat under the guide of the guide pulley under the action of the third driving cylinder.