Six-degree-of-freedom parallel robot with reverse driving performance

Abstract

The invention discloses a six-degree-of-freedom parallel robot with reverse driving performance, which relates to the technical field of man-machine operation robots, and comprises a base, a plurality of groups of driving assemblies, a first branch chain assembly, a second branch chain assembly, a third branch chain assembly and a movable platform, the first branch chain assembly, the second branch chain assembly and the third branch chain assembly each comprise a first flexible transmission part, a first connecting rod assembly and a second connecting rod assembly, the first connecting rod assembly comprises a transmission plate and a first rod part, and the first connecting rod assembly drives the second connecting rod assembly to move in the first direction; the third branch chain assembly further comprises a third flexible transmission part, a transfer part and a fourth flexible transmission part, the third flexible transmission part is connected with the third driving part and connected to the transfer part, the fourth flexible transmission part is connected with the transfer part and connected to the second connecting rod assembly through a reversing part, and the fourth flexible transmission part drives the second connecting rod assembly to move in the second direction. The second direction is perpendicular to the first direction. Large-angle rotation can be achieved, and the reverse driving performance is good.

Description

Technical Field

[0001] This invention relates to the technical field of human-machine operation robots, and in particular to a six-degree-of-freedom parallel robot with anti-drive capability. Background Technology

[0002] With the rapid development of fields such as intelligent manufacturing, medical rehabilitation, and virtual reality, higher requirements are being placed on the dynamic response capabilities, operational compliance, and human-machine interaction safety of robot systems. Traditional serial robots, due to their high rigidity and inertia, are unable to meet the low impedance requirements in human-machine collaboration scenarios. In contrast, six-degree-of-freedom parallel robots, with their structural advantages of high rigidity, high precision, and low inertia, have become an ideal carrier for achieving highly dynamic interaction.

[0003] However, traditional six-DOF parallel robots still face many challenges when used for human-robot interaction. For example, their limited rotational capacity results in insufficient flexibility. A typical six-DOF parallel platform contains six branches, and due to the limitations of passive joint rotation angles and interference between links, the maximum included angle of the end effector relative to the horizontal plane generally does not exceed 40 degrees. Furthermore, traditional parallel robots have numerous transmission chains with complex constraint relationships, such as over-constraints or the use of joint designs with high friction, all of which result in low anti-drive performance, making it difficult to meet practical requirements. Therefore, there is an urgent need for a six-DOF parallel robot with anti-drive performance to address the aforementioned technical problems. Summary of the Invention

[0004] The purpose of this invention is to provide a six-degree-of-freedom parallel robot with anti-drive performance to solve the problems existing in the prior art, which can achieve large-angle rotation and has good anti-drive performance.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] This invention provides a six-degree-of-freedom parallel robot with anti-drive capabilities, including...

[0007] Base;

[0008] Multiple sets of drive components are fixedly disposed on the base. Each drive component includes a first drive component, a second drive component, and a third drive component arranged in a triangle. Each of the first drive component, the second drive component, and the third drive component includes a first drive element and a second drive element. The third drive component also includes a third drive element. There is a height difference between the first drive element and the second drive element in the height direction, and the height of the first drive element is lower than the height of the second drive element.

[0009] The first, second, and third branch assemblies each include a first flexible transmission member, a first linkage assembly, and a second linkage assembly. The two ends of the first flexible transmission member are respectively connected to the output end of the second drive member and the second linkage assembly, and the first flexible transmission member is rotatable relative to the second drive member and the second linkage assembly. The first linkage assembly includes a transmission plate and a first rod. The length direction of the transmission plate is perpendicular to the rotation axis of the output end of the first drive member, and the transmission plate is connected to the output end of the first drive member via the second flexible transmission member. The first end of the first rod is fixedly connected to the end of the transmission plate away from the first driving member, and the second end of the first rod is rotatably connected to the second connecting rod assembly. The first connecting rod assembly can drive the second connecting rod assembly to move along a first direction. The third branch assembly also includes a third flexible transmission member, a transfer member, and a fourth flexible transmission member. The third flexible transmission member is connected to the output end of the third driving member and connected to the transfer member. The fourth flexible transmission member is connected to the transfer member and connected to the second connecting rod assembly through a reversing member. The fourth flexible transmission member can drive the second connecting rod assembly to move along a second direction, and the second direction is perpendicular to the first direction.

[0010] The moving platform is rotatably connected to the second link assembly of the first branch assembly, the second link assembly of the second branch assembly, and the second link assembly of the third branch assembly.

[0011] In some embodiments, the base includes three base bodies, each base body for fixing a set of drive components, the included angle between two adjacent base bodies is less than 90°, and the third drive component is located between the first drive component and the second drive component.

[0012] In some embodiments, the moving platform includes a fixed platform, an operating handle, a connecting assembly, a guide block, a connector, a first pulley, and a transmission rod. The guide block is rotatably connected to the second link assembly of the third branch assembly. The transmission rod is fixedly connected to the guide block. The connecting assembly is rotatably connected to the fixed platform. The fixed platform is rotatably connected to the second link assembly of the first branch assembly and the second link assembly of the second branch assembly via two connecting assemblies, respectively. The guide block is rotatably connected to the fixed platform via the connector. The first pulley is rotatably mounted on the fixed platform. The operating handle is rotatably connected to the fixed platform and fixedly connected to the first pulley. The rotation axis of the operating handle is collinear with the rotation axis of the first pulley. The first pulley is connected to a fifth flexible transmission member, and the transmission rod is fixedly connected to the fifth flexible transmission member.

[0013] In some embodiments, the connector includes a first connector, which includes a second rod, a third rod, and a fourth rod. The second rod is rotatably connected to the guide block, the fourth rod is rotatably connected to the fixed platform, and the third rod is rotatably connected to both the second and fourth rods. The axis of the second rod is collinear with the axis of the third rod, and the third rod is capable of rotating about its own axis.

[0014] In some embodiments, the connector further includes a second connector comprising a fifth rod and a sixth rod, the fifth rod being rotatably connected to the guide block and the sixth rod being rotatably connected to the fixed platform, and the fifth rod and the sixth rod being rotatably connected and located on the guide block on a side different from the second rod.

[0015] In some embodiments, the second linkage assembly includes a seventh link and an eighth link, the first link being rotatably connected to the seventh link and being perpendicular to the seventh link, the eighth link being rotatably connected to the seventh link and capable of deflecting in a direction parallel to the length direction of the seventh link.

[0016] In some embodiments, the transfer component is a first pulley, which is rotatably mounted on the seventh rod. The output end of the third drive component is fixedly connected to a second pulley. The third flexible transmission component is sleeved on the first pulley and the second pulley. The eighth rod has a third pulley fixedly mounted on one end near the seventh rod, and the third pulley is perpendicular to the first pulley. The end of the seventh rod is provided with a reversing component, which is a reversing wheel. The reversing wheel is inclined. One end of the fourth flexible transmission component is sleeved on the first pulley, and the other end is sleeved on the third pulley. The reversing wheel is supported on the fourth flexible transmission component, and the two parts of the fourth flexible transmission component located on both sides of the reversing wheel are perpendicular to each other.

[0017] In some embodiments, the fixed platform is a W-shaped platform, with two connecting components disposed on its two side edges. The connecting member is rotatably connected to the middle end of the fixed platform. The two connecting components are respectively connected to the second link assembly of the first branch assembly and the second link assembly of the second branch assembly. Each connecting component includes a first connecting ring and a hinge seat. The hinge seat is rotatably connected to the fixed platform. The first connecting ring is rotatably disposed within the hinge seat, and the rotation axis of the first connecting ring is perpendicular to the rotation axis of the hinge seat. The second link assembly also includes a ninth link, which is disposed parallel to the seventh link. The eighth link is rotatably connected to the ninth link and can deflect in a direction parallel to the length direction of the ninth link. The first connecting ring is rotatably sleeved on the outside of the ninth link.

[0018] In some embodiments, the first driving member, the second driving member, and the third driving member are all motors, and the second driving member and the third driving member are coaxially arranged.

[0019] In some embodiments, the second linkage assembly further includes a tenth link, which is arranged parallel to the eighth link, and the two ends of the tenth link are rotatably connected to the seventh link and the ninth link, respectively.

[0020] The present invention achieves the following technical effects compared to the prior art:

[0021] The present invention provides a parallel robot with anti-drive performance. The first and second branch components each include a first link, a first link assembly, and a second link assembly. Through the coordinated movement of a first driving member (controlling the first link assembly) and a second driving member (controlling the first flexible transmission member), the second link assembly is driven to move along a first direction, forming one rotational degree of freedom in the plane. The third branch component transmits power from the third driving member to a fourth flexible transmission member through a third flexible transmission member. The fourth flexible transmission member is connected to the second link assembly through a reversing member, driving the second link assembly to move along a second direction perpendicular to the first direction, forming another planar rotational degree of freedom. The superposition of these two perpendicular movements allows the moving platform to achieve large tilt angles exceeding a certain degree in the horizontal plane. Simultaneously, the fixed platform of the moving platform is connected to the second link assemblies of the first and second branch components, allowing it to rotate relative to the branches, further releasing the limitation on the rotation angle.

[0022] The six-DOF parallel robot with anti-drive capability uses only three branches (traditional six-DOF parallel robots usually have six branches). By arranging them in a triangle (first drive component, second drive component, and third drive component), spatial interference between links is reduced, which significantly expands the rotation range of the moving platform in the horizontal plane. The structure of the moving platform is also relatively simple, thus reducing interference between links and improving the limit rotation angle.

[0023] Furthermore, the parallel robot provided by this invention possesses good anti-drive performance. The first driving component is connected to the second link assembly via a first flexible transmission component. The second driving component is connected to a second flexible transmission component, which is connected to the first link assembly and can drive the first link assembly to move. The first and second flexible transmission components enable the second link assembly to move along a first direction. The third driving component is connected to a transfer component via a third flexible transmission component, and a fourth flexible transmission component is also connected to the transfer component. The third flexible transmission component can transmit the driving force of the third driving component to the transfer component, which can further transmit the driving force to the fourth flexible transmission component. The fourth flexible transmission component, under the commutation action of the reversing component, is connected to the second link assembly and can drive the second link assembly to move along a second direction, where the first direction is perpendicular to the second direction. The robot with anti-drive performance achieves movement in both the first and second directions through flexible transmission components, resulting in relatively less friction and avoiding the use of gears or similar structures, thus improving the overall anti-drive performance of the robot. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the structure of a six-degree-of-freedom parallel robot with anti-drive capability in some embodiments of the present invention;

[0026] Figure 2 This is a schematic diagram of the structure of a six-degree-of-freedom parallel robot with anti-drive capability whose base is equipped with a drive assembly, as shown in some embodiments of the present invention.

[0027] Figure 3 This is a schematic diagram of the structure of a six-degree-of-freedom parallel robot with anti-drive performance in some embodiments of the present invention, wherein the base is connected to a first branch assembly and a second branch assembly.

[0028] Figure 4This is a schematic diagram of the structure of the first flexible transmission component and the first linkage assembly of a six-degree-of-freedom parallel robot with anti-drive performance connected to the drive assembly in some embodiments of the present invention.

[0029] Figure 5 This is a schematic diagram of the third branch component of a six-degree-of-freedom parallel robot with anti-drive performance connected to the third drive component in some embodiments of the present invention.

[0030] Figure 6 This is a schematic diagram of the structure of a first flexible transmission component, a first link assembly, and a third flexible transmission component connected to a third drive assembly in a six-degree-of-freedom parallel robot with anti-drive performance in some embodiments of the present invention.

[0031] Figure 7 This is a schematic diagram of the structure in which the seventh and eighth links of a six-degree-of-freedom parallel robot with anti-drive performance are connected by a fourth flexible transmission component in some embodiments of the present invention.

[0032] Figure 8 This is a schematic diagram of the structure of the seventh link of the third branch assembly of a six-degree-of-freedom parallel robot with anti-drive performance in some embodiments of the present invention.

[0033] Figure 9 This is a schematic diagram of the motion platform of a six-degree-of-freedom parallel robot with anti-drive performance in some embodiments of the present invention;

[0034] Figure 10 This is a schematic diagram of a portion of the dynamic platform of a six-degree-of-freedom parallel robot with anti-drive capabilities in some embodiments of the present invention;

[0035] Figure 11 This is a partial structural schematic diagram of the motion platform of a six-degree-of-freedom parallel robot with anti-drive performance in some embodiments of the present invention.

[0036] In the diagram: 1-Base; 2-First branch assembly; 3-Second branch assembly; 31-First connecting rod assembly; 311-Transmission plate; 312-First rod; 313-Second flexible transmission component; 32-First flexible transmission component; 33-Second connecting rod assembly; 331-Seventh rod; 332-Eighth rod; 333-Ninth rod; 334-Tenth rod; 4-Third branch assembly; 41-Second pulley; 42-Third flexible transmission component; 43-Third pulley; 44-Fourth flexible transmission component; 45-Reversing wheel; 5-Drive assembly; 51-First drive group Components; 511-First driving component; 512-Second driving component; 52-Second driving assembly; 53-Third driving assembly; 531-Third driving component; 6-Moving platform; 61-Operating handle; 62-Connecting assembly; 621-First connecting ring; 622-Hinge; 63-First pulley; 64-Fifth flexible transmission component; 65-Fixed platform; 66-Guide block; 67-Transmission rod; 68-Second rod; 69-Third rod; 601-Fourth rod; 602-Second connecting ring; 603-Fourth pulley; 604-Fifth rod; 605-Sixth rod. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] The purpose of this invention is to provide a six-degree-of-freedom parallel robot with anti-drive performance to solve the problems existing in the prior art, which can achieve large-angle rotation and has good anti-drive performance.

[0039] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0040] like Figures 1-11As shown, the present invention provides a six-degree-of-freedom parallel robot with anti-drive capability, including a base 1, multiple sets of drive components 5, a first branch component 2, a second branch component 3, a third branch component 4, and a moving platform 6. The multiple sets of drive components 5 are fixedly mounted on the base 1. Each drive component 5 includes a first drive component 51, a second drive component 52, and a third drive component 53 arranged in a triangular pattern. Each of the first drive component 51, the second drive component 52, and the third drive component 53 includes a first drive element 511 and a second drive element 512. The third drive component 53 also includes a third drive element. Component 531, the first driving component 511 and the second driving component 512 have a height difference in the height direction, and the height of the first driving component 511 is lower than the height of the second driving component 512; the first branch assembly 2, the second branch assembly 3, and the third branch assembly 4 each include a first flexible transmission component 32, a first connecting rod assembly 31, and a second connecting rod assembly 33. The two ends of the first flexible transmission component 32 are respectively connected to the output end of the second driving component 512 and the second connecting rod assembly 33, and the first flexible transmission component 32 can rotate relative to the second driving component 512 and the second connecting rod assembly 33. The first linkage assembly 31 includes a transmission plate 311 and a first rod 312. The length direction of the transmission plate 311 is perpendicular to the rotation axis of the output end of the first drive member 511, and the transmission plate 311 is connected to the output end of the first drive member 511 through a second flexible transmission member 313. The first end of the first rod 312 is fixedly connected to the end of the transmission plate 311 away from the first drive member 511, and the second end of the first rod 312 is rotatably connected to the second linkage assembly 33. The first linkage assembly 31 can drive the second linkage assembly 33 to move in a first direction. The third branch assembly 4 also includes... The third flexible transmission component 42, the intermediate component, and the fourth flexible transmission component 44 are connected. The third flexible transmission component 42 is connected to the output end of the third drive component 531 and to the intermediate component. The fourth flexible transmission component 44 is connected to the intermediate component and to the second link assembly 33 through the reversing component. The fourth flexible transmission component 44 can drive the second link assembly 33 to move along a second direction, and the second direction is perpendicular to the first direction. The moving platform 6 is rotatably connected to the second link assembly 33 of the first branch assembly 2, the second link assembly 33 of the second branch assembly 3, and the second link assembly 33 of the third branch assembly 4.

[0041] Both the first branch assembly 2 and the second branch assembly 3 include a first link, a first link assembly 31, and a second link assembly 33. Through the coordinated movement of the first drive member 511 (controlling the first link assembly 31) and the second drive member 512 (controlling the first flexible transmission member 32), the second link assembly 33 is driven to move along a first direction, forming one rotational degree of freedom in the plane. The third branch assembly 4 transmits the power of the third drive member 531 to the fourth flexible transmission member 44 through the third flexible transmission member 42. The fourth flexible transmission member 44 is connected to the second link assembly 33 through a reversing member, driving the second link assembly 33 to move along a second direction perpendicular to the first direction, forming another planar rotational degree of freedom. The superposition of these two perpendicular movements allows the moving platform 6 to achieve large tilt angles exceeding degrees in the horizontal plane. Simultaneously, the fixed platform 65 of the moving platform 6 is connected to the second link assembly 33 of the first branch assembly 2 and the second branch assembly 3, allowing it to rotate relative to the branches, further releasing the limitation on the rotation angle.

[0042] The six-DOF parallel robot with anti-drive capability uses only three branches (traditional six-DOF parallel robots usually have six branches). Through a triangular arrangement (first drive component 51, second drive component 52, and third drive component 53), spatial interference between links is reduced, which significantly expands the rotation range of the moving platform 6 in the horizontal plane. The structure of the moving platform 6 is also relatively simple, thus reducing interference between links and improving the limit rotation angle.

[0043] Furthermore, this embodiment provides a parallel robot with good anti-drive performance. The first drive member 511 is connected to the second link assembly 33 via the first flexible transmission member 32. The second drive member 512 is connected to the second flexible transmission member 313, which is connected to the first link 312 and can drive the first link 312 to move. The first flexible transmission member 32 and the second flexible transmission member 313 realize the movement of the second link assembly 33 along the first direction. The third drive member 531 is connected to the transfer member via the third flexible transmission member 42, and the fourth flexible transmission member 44 is also connected to the transfer member. The third flexible transmission member 42 can transmit the driving force of the third drive member 531 to the transfer member, and the transfer member can further transmit the driving force to the fourth flexible transmission member 44. The fourth flexible transmission member 44 is connected to the second link assembly 33 under the commutation action of the commutator and can drive the second link assembly 33 to move along the second direction. The first direction is perpendicular to the second direction. Robots with anti-drive capabilities achieve movement in both the first and second directions through flexible transmission components, resulting in relatively less friction and avoiding the use of structures such as gears. This makes the overall anti-drive performance of robots with anti-drive capabilities better.

[0044] It should be noted that the flexible transmission component can adopt various structures, such as flexible ropes and flexible belts, as long as it can achieve the function of low friction in flexible transmission. The transmission plate 311 of the first linkage assembly 31 has a fan-shaped structure, and the second flexible transmission component 313 is fixedly connected to the arc surface of the fan-shaped structure. The output end of the first driving component 511 rotates to drive the second flexible transmission component 313 to move. The second flexible transmission component 313 can pull the fan-shaped structure to move, and the movement of the fan-shaped structure drives the first rod 312 to move. The transmission plate 311 can also adopt other forms of structure, such as a square plate. However, using a plate with an arc surface can better fit the rotation of the first rod 312, which can largely ensure that the second flexible transmission component 313 always fits the arc surface.

[0045] In some embodiments, the base 1 includes three base 1 bodies, each base 1 body for fixedly mounting a set of drive components. The included angle between two adjacent base 1 bodies is less than 90°, and the third drive component 53 is located between the first drive component 51 and the second drive component 52. The two adjacent base 1 bodies form a V-shaped structure with an included angle of less than 90°, so the span of the three base 1 bodies is less than 180°. That is, the included angle between the base 1 body mounting the first drive component 51 and the base 1 body mounting the second drive component 52 is less than 180°. This results in the projection of the parallel robot with reverse drive on the horizontal plane being less than 180 degrees, providing a range greater than 180 degrees for human-machine interaction, thus exhibiting good human-machine compatibility. An open space of >180° is formed behind and on both sides of the base 1 (e.g., when the projected span is 120°, the remaining 240° space is available for human-machine interaction), allowing operators to approach the robot from multiple angles, suitable for scenarios requiring frequent manual intervention (such as parts replenishment on assembly lines or patient assistance with rehabilitation robots).

[0046] In some embodiments, the moving platform 6 includes a fixed platform 65, an operating handle 61, a connecting assembly 62, a guide block 66, a connector, a first pulley 63, and a transmission rod 67. The guide block 66 is rotatably connected to the second link assembly 33 of the third branch assembly 4. Specifically, a second connecting ring 602 is rotatably provided at the end of the guide block 66. The second connecting ring 602 is sleeved on the ninth rod 333, which is rotatable relative to the second connecting ring 602. The axis of rotation of the ninth rod 333 within the second connecting ring 602 is perpendicular to the axis of rotation of the second connecting ring 602 relative to the guide block 66. The transmission rod 67 is fixedly connected to the guide block 66. The connecting component 62 is rotatably connected to the fixed platform 65, and the fixed platform 65 is rotatably connected to the second link assembly 33 of the first branch assembly 2 and the second link assembly 3 of the second branch assembly 3 via two connecting components 62 respectively. The guide block 66 is rotatably connected to the fixed platform 65 via a connector. The first pulley 63 is rotatably mounted on the fixed platform 65. The operating handle 61 is rotatably connected to the fixed platform 65 and fixedly connected to the first pulley 63, and the rotation axis of the operating handle 61 is collinear with the rotation axis of the first pulley 63. The first pulley 63 is connected to a fifth flexible transmission component 64, and the transmission rod 67 is fixedly connected to the fifth flexible transmission component 64. The fixed platform 65 is rotatably connected to the second link assembly 33 of the first and second branches via two connecting components 62 respectively, realizing pitch and yaw motion. The guide block 66 is rotatably connected to the second link assembly 33 of the third branch and drives the fixed platform 65 via a connector, realizing independent tumbling motion. The three-directional movements do not interfere with each other. For example, during manual operation, the pitch angle can be adjusted independently without affecting the yaw attitude, reducing the complexity of kinematic control. Moreover, the guide block 66 drives the sliding of the transmission rod 67, which in turn drives the fifth flexible transmission component 64 to move. The fifth flexible transmission component 64 drives the first pulley 63 to rotate, and the rotation of the first pulley 63 drives the operating handle 61 to rotate, enabling operation and achieving 360° rotation around the axis of the operating handle 61 itself.

[0047] It should be noted that the moving platform 6 also includes a fourth pulley 603, which is rotatably disposed below the fixed platform 65 and can rotate around its own axis. The fifth flexible transmission component 64 is sleeved on the first pulley 63 and the fourth pulley 603. The movement of the transmission rod 67 can drive the fifth flexible transmission component 64 to rotate, thereby driving the operating handle 61 to rotate.

[0048] In some embodiments, the connector includes a first connector, which includes a second rod 68, a third rod 69, and a fourth rod 601. The second rod 68 is rotatably connected to the guide block 66, the fourth rod 601 is rotatably connected to the fixed platform 65, and the third rod 69 is rotatably connected to both the second rod 68 and the fourth rod 601. The axis of the second rod 68 is collinear with the axis of the third rod 69, and the third rod 69 can rotate about its own axis. The axis of rotation of the third rod 69 about itself is perpendicular to the axis of rotation of the fourth rod 601 about the third rod 69, ensuring that the fixed platform 65 can move in multiple directions. Furthermore, this structure allows the distance between the guide block 66 and the fixed platform 65 to change, thereby allowing the fixed connection point between the transmission rod 67 and the second flexible transmission member 313 to move, enabling operation and rotation.

[0049] In some embodiments, the connector further includes a second connector, which includes a fifth rod 604 and a sixth rod 605. The fifth rod 604 is rotatably connected to the guide block 66, and the sixth rod 605 is rotatably connected to the fixed platform 65. The fifth rod 604 and the sixth rod 605 are located on the guide block 66 on a side different from the second rod 68. The first connector (second, third, and fourth rods) and the second connector (fifth and sixth rods) are located on both sides of the guide block 66, forming a symmetrical double-support structure, which makes the operation of the operating handle 61 more stable.

[0050] In some embodiments, the second linkage assembly 33 includes a seventh link 331 and an eighth link 332. A first link 312 is rotatably connected to the seventh link 331 and is perpendicular to the seventh link 331. The eighth link 332 is rotatably connected to the seventh link 331 and can deflect in a direction parallel to the length direction of the seventh link 331. The first link 312 and the seventh link 331 are perpendicularly connected, forming an orthogonal revolute pair, allowing the eighth link 332 to achieve two independent degrees of rotational freedom in three-dimensional space. The combination of the two can cover any angle in the plane, providing the operating handle 61 with more flexible attitude adjustment capabilities. Moreover, the eighth link 332 can deflect along the length direction of the seventh link 331, forming a third degree of rotational freedom, enabling the operating handle 61 to achieve attitude adjustment in three directions: pitch, yaw, and roll, covering the complete three-dimensional attitude. Since the seventh link 331 is perpendicular to the first link 312, and the deflection direction of the eighth link 332 is parallel to the length direction of the seventh link 331, the kinematic relationships of the various revolute joints can be approximately decoupled. For example, controlling the rotation angle of the seventh link 331 mainly affects the pitch attitude of the operating handle 61, while controlling the deflection angle of the eighth link 332 mainly affects the roll attitude. This decoupling characteristic simplifies the design of the control algorithm.

[0051] In some embodiments, the transfer element is a first pulley 63, which is rotatably mounted on the seventh rod 331 with its rotation axis being the axis of the seventh rod 331. The output end of the third drive element 531 is fixedly connected to a second pulley 41. A third flexible transmission element 42 is sleeved on the first pulley 63 and the second pulley 41. The end of the eighth rod 332 near the seventh rod 331 is fixedly equipped with a third pulley 43, which is perpendicular to the first pulley 63. The end of the seventh rod 331 is provided with a reversing element, which is a reversing wheel 45, which is inclined. One end of a fourth flexible transmission element 44 is sleeved on the first pulley 63, and the other end is sleeved on the third pulley 43. The reversing wheel 45 is supported on the fourth flexible transmission element 44, and the two parts of the fourth flexible transmission element 44 located on either side of the reversing wheel 45 are perpendicular to each other. Preferably... There are two reversing wheels 45, which are located on opposite surfaces of the seventh link 331 near the eighth link 332. This ensures that the two parts of the fourth flexible transmission member 44 located on both sides of the reversing wheels 45 are perpendicular to each other, allowing for good reversing. Furthermore, the use of flexible transmission members reduces friction and is more conducive to improving reverse drive performance.

[0052] In some embodiments, the fixed platform 65 is a W-shaped platform. Two connecting components 62 are provided on both sides of the fixed platform 65. A connector is rotatably connected to the middle end of the fixed platform 65. The two connecting components 62 are respectively connected to the second link assembly 33 of the first branch assembly 2 and the second link assembly 33 of the second branch assembly 3. Each connecting component 62 includes a first connecting ring 621 and a hinge seat 622. The hinge seat 622 is rotatably connected to the fixed platform 65. The first connecting ring 621 is rotatably disposed inside the hinge seat 622, and the rotation axis of the first connecting ring 621 is perpendicular to the rotation axis of the hinge seat 622. The second link assembly 33 also includes a ninth member 333. The ninth member 333 is disposed parallel to the seventh member 331, and the eighth member 332 is rotatably connected to the ninth member 333 and can deflect in a direction parallel to the length direction of the ninth member 333. The first connecting ring 621 is rotatably sleeved on the outside of the ninth member 333. The ninth link 333 can rotate within the first connecting ring 621, with its own axis of rotation. The first connecting ring 621 can rotate within the hinge 622, with its axis of rotation perpendicular to the axis of rotation of the ninth link 333. The hinge 622 can rotate relative to the fixed platform 65, with its axis of rotation perpendicular to both the axis of rotation of the ninth link 333 and the axis of rotation of the first connecting ring 621. Through the first connecting ring 621 and the hinge 622, the operating handle 61 can be arbitrarily deflected in three-dimensional space. The axes of the three revolute joints are orthogonal to each other, forming a complete Euler angle representation. The movement of any one revolute joint does not affect the attitude of the other two axes, and the control algorithm can independently adjust the angles of each axis.

[0053] In some embodiments, the first drive member 511, the second drive member 512, and the third drive member 531 are all motors, and the second drive member 512 and the third drive member 531 are coaxially arranged. Each motor can be individually controlled to adapt to different working requirements. Moreover, the motors used in the same branch assembly are in the same plane, only differing in height, which can save space to a certain extent, making it suitable for scenarios with high requirements for miniaturization and lightweighting of equipment, and can also avoid motion interference.

[0054] In some embodiments, the second linkage assembly 33 further includes a tenth link 334, which is arranged parallel to the eighth link 332, and its two ends are rotatably connected to the seventh link 331 and the ninth link 333, respectively. The seventh link 331, the eighth link 332, the ninth link 333, and the tenth link 334 form a parallelogram structure. The parallel arrangement of the eighth link 332 and the tenth link 334 allows them to perform the same function. The coordinated action of the two links makes the operation more stable, and ensures that if one link is damaged (the tenth link 334 is damaged), the other link (the eighth link 332) can temporarily function independently. Although the smoothness of operation is reduced, the basic function can still be achieved.

[0055] Other general points to note are that, in this invention, the first, third, and fifth flexible transmission components are preferably made of synchronous belts, and the second and fourth flexible transmission components are preferably made of soft ropes.

[0056] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A six-degree-of-freedom parallel robot with anti-drive capability, characterized in that: include Base; Multiple sets of drive components are fixedly disposed on the base. Each drive component includes a first drive component, a second drive component, and a third drive component arranged in a triangle. Each of the first drive component, the second drive component, and the third drive component includes a first drive element and a second drive element. The third drive component also includes a third drive element. There is a height difference between the first drive element and the second drive element in the height direction, and the height of the first drive element is lower than the height of the second drive element. The first, second, and third branch assemblies each include a first flexible transmission member, a first linkage assembly, and a second linkage assembly. The two ends of the first flexible transmission member are respectively connected to the output end of the second drive member and the second linkage assembly, and the first flexible transmission member is rotatable relative to the second drive member and the second linkage assembly. The first linkage assembly includes a transmission plate and a first rod. The length direction of the transmission plate is perpendicular to the rotation axis of the output end of the first drive member, and the transmission plate is connected to the output end of the first drive member via the second flexible transmission member. The first end of the first rod is fixedly connected to the end of the transmission plate away from the first driving member, and the second end of the first rod is rotatably connected to the second connecting rod assembly. The first connecting rod assembly can drive the second connecting rod assembly to move along a first direction. The third branch assembly also includes a third flexible transmission member, a transfer member, and a fourth flexible transmission member. The third flexible transmission member is connected to the output end of the third driving member and connected to the transfer member. The fourth flexible transmission member is connected to the transfer member and connected to the second connecting rod assembly through a reversing member. The fourth flexible transmission member can drive the second connecting rod assembly to move along a second direction, and the second direction is perpendicular to the first direction. The moving platform is rotatably connected to the second link assembly of the first branch assembly, the second link assembly of the second branch assembly, and the second link assembly of the third branch assembly.

2. The six-degree-of-freedom parallel robot with anti-drive capability according to claim 1, characterized in that: The base includes three base bodies, each base body is used to fix a set of drive components, the included angle between two adjacent base bodies is less than 90°, and the third drive component is located between the first drive component and the second drive component.

3. The six-degree-of-freedom parallel robot with anti-drive capability according to claim 1, characterized in that: The moving platform includes a fixed platform, an operating handle, a connecting assembly, a guide block, a connector, a first pulley, and a transmission rod. The guide block is rotatably connected to the second link assembly of the third branch assembly. The transmission rod is fixedly connected to the guide block. The connecting assembly is rotatably connected to the fixed platform. The fixed platform is rotatably connected to the second link assembly of the first branch assembly and the second link assembly of the second branch assembly via two connecting assemblies respectively. The guide block is rotatably connected to the fixed platform via the connector. The first pulley is rotatably mounted on the fixed platform. The operating handle is rotatably connected to the fixed platform and fixedly connected to the first pulley. The rotation axis of the operating handle is collinear with the rotation axis of the first pulley. The first pulley is connected to a fifth flexible transmission component. The transmission rod is fixedly connected to the fifth flexible transmission component.

4. The six-degree-of-freedom parallel robot with anti-drive capability according to claim 3, characterized in that: The connector includes a first connector, which includes a second rod, a third rod, and a fourth rod. The second rod is rotatably connected to the guide block, the fourth rod is rotatably connected to the fixed platform, and the third rod is rotatably connected to both the second and fourth rods. The axis of the second rod is collinear with the axis of the third rod, and the third rod is capable of rotating around its own axis.

5. The six-degree-of-freedom parallel robot with anti-drive capability according to claim 4, characterized in that: The connector further includes a second connector, which includes a fifth rod and a sixth rod. The fifth rod is rotatably connected to the guide block, and the sixth rod is rotatably connected to the fixed platform. The fifth rod and the sixth rod are rotatably connected and are located on the guide block on a side different from the second rod.

6. The six-degree-of-freedom parallel robot with anti-drive capability according to claim 3, characterized in that: The second linkage assembly includes a seventh link and an eighth link. The first link is rotatably connected to the seventh link and is perpendicular to the seventh link. The eighth link is rotatably connected to the seventh link and can deflect in a direction parallel to the length direction of the seventh link.

7. The six-degree-of-freedom parallel robot with anti-drive capability according to claim 6, characterized in that: The transfer component is a first pulley, which is rotatably mounted on the seventh rod. The output end of the third drive component is fixedly connected to a second pulley. The third flexible transmission component is sleeved on the first pulley and the second pulley. The eighth rod has a third pulley fixedly mounted on one end near the seventh rod, and the third pulley is perpendicular to the first pulley. The end of the seventh rod has a reversing component, which is a reversing wheel. The reversing wheel is inclined. One end of the fourth flexible transmission component is sleeved on the first pulley, and the other end is sleeved on the third pulley. The reversing wheel is supported on the fourth flexible transmission component, and the two parts of the fourth flexible transmission component located on both sides of the reversing wheel are perpendicular to each other.

8. The six-degree-of-freedom parallel robot with anti-drive capability according to claim 6, characterized in that: The fixed platform is a W-shaped platform. Two connecting components are provided on both sides of the fixed platform. The connecting member is rotatably connected to the middle end of the fixed platform. The two connecting components are respectively connected to the second link assembly of the first branch assembly and the second link assembly of the second branch assembly. Each connecting component includes a first connecting ring and a hinge seat. The hinge seat is rotatably connected to the fixed platform. The first connecting ring is rotatably disposed in the hinge seat, and the rotation axis of the first connecting ring is perpendicular to the rotation axis of the hinge seat. The second link assembly also includes a ninth link. The ninth link is disposed parallel to the seventh link, and the eighth link is rotatably connected to the ninth link and can deflect in a direction parallel to the length direction of the ninth link. The first connecting ring is rotatably sleeved on the outside of the ninth link.

9. The six-degree-of-freedom parallel robot with anti-drive capability according to claim 1, characterized in that: The first driving component, the second driving component, and the third driving component are all motors, and the second driving component and the third driving component are coaxially arranged.

10. The six-degree-of-freedom parallel robot with anti-drive capability according to claim 8, characterized in that: The second linkage assembly further includes a tenth link, which is arranged parallel to the eighth link, and both ends of the tenth link are rotatably connected to the seventh link and the ninth link, respectively.

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