A six-degree-of-freedom high-speed parallel robot based on a linkage slide with analytically correct solution

Abstract

The invention discloses a six-degree-of-freedom high-speed parallel robot based on a linkage slide and having an analytical correct solution, belonging to the technical field of robots; the robot comprises a frame, a moving platform, six driving motors, an end effector, and three identical branches connected in parallel between the frame and the moving platform and uniformly distributed along the central axis of the frame; each branch is sequentially connected with a double-screw slider module, a double-rocker coupling mechanism, and an operating rod from the frame to the moving platform; the invention realizes six-degree-of-freedom motion in a three-branch parallel configuration by applying a brand-new linkage slide connecting rod mechanism; the mechanism has a relatively simple kinematic analytical correct solution, and provides a mechanism solution with better performance for the application of industrial equipment such as mobile cameras; the driving components of the mechanism are all fixed on the frame, have high rigidity, low inertia and a large working space, and have good application prospects in the fields of complex component processing, assembly and sorting.

Description

Technical Field

[0001] The invention relates to a six-freedom high-speed parallel robot based on a linkage slide connecting rod and having an analytical correct solution, belonging to the technical field of robots. Background Art

[0002] With the advancement of industrialization, the field of high-precision technology has put forward higher requirements for the working performance of the robots used. Compared with the serial mechanism, the parallel mechanism, especially the six-degree-of-freedom parallel mechanism, has significant advantages such as high rigidity, small cumulative error, and good dynamic performance, which can meet the application requirements of more industrial scenarios.

[0003] The researchers applied the slide device to the six-degree-of-freedom parallel robot to take advantage of its high load-bearing capacity. Chinese patent (CN 111300380 A) proposes a six-degree-of-freedom parallel robot based on redundant drive, including a central branch chain and four follower branches driven by a slide, which has excellent stiffness, but it is a multi-branch structure with redundant drive, the control model is relatively complex, and the application solution cost is high; Chinese patent (CN 115351768A) proposes a branch chain assembly, a six-degree-of-freedom parallel mechanism and an industrial robot, the mechanism has three groups of branch chain assemblies symmetrically distributed, and the linear movement of the sliding part drives the movement of the connecting rod and the end, which has high flexibility, but its rotation drive is located on the linear displacement slider, the mechanism has large inertia, and the branches are prone to singular configurations; Chinese patent (CN 115741638A) proposes a six-branch five-degree-of-freedom parallel processing robot, whose unconstrained branch chain realizes the output assembly posture change through motor drive, the whole machine has high stiffness and good flexibility, but its essence is a six-branch parallel mechanism and the motor is installed on the branch, the kinematic model is relatively complex, and the mechanism inertia is large; Chinese patent (CN 115771135 A) A parallel processing robot with large working space, few branches and five degrees of freedom is proposed. It has high rigidity and large working space, but its drive for adjusting posture is installed on the slide and moves with the movement of the drive slide, so the inertia of the whole machine is large.

[0004] The existing multi-degree-of-freedom parallel robot including a slide device has the following problems:

[0005] (1) The multi-branch configuration results in many restrictions on rod interference and joint movement, and the working space is limited; (2) The drive components are arranged on the branches and move with the end movement. The mechanism has large inertia and is not suitable for high-speed motion scenarios; (3) The motion model is complex, lacks an analytical solution or is difficult to solve, and is not suitable for application in industrial equipment such as mobile cameras; (4) It cannot simultaneously meet the requirements of few branches, low inertia, large working space, and a relatively simple analytical solution, resulting in obvious shortcomings in practical applications; (5) There is a lack of configuration solutions with a single branch containing two drive slides fixed to the frame.

[0006] In order to overcome the shortcomings of the above-mentioned machine model scheme, the present invention proposes a six-degree-of-freedom high-speed parallel robot based on a linkage slide and having an analytical solution. By applying a new linkage slide linkage mechanism, a three-branch parallel configuration is used to realize six-degree-of-freedom motion. The important advantages of this robot compared with other six-degree-of-freedom parallel robots containing slide devices are: the linkage slide linkage mechanism proposed in this technical solution effectively reduces the number of mechanism branches through the linkage of double slides, and the joint restrictions and rod interference are less, so that the end has a larger working space; all driving components are fixed on the frame, the branches and the end are light in mass, the mechanism has low inertia, and the motion performance is excellent; it has a relatively simple kinematic analytical solution, and provides a mechanism solution with better performance for the application of industrial equipment such as mobile cameras, which has far-reaching significance for robot control. The technical solution proposed by the present invention can simultaneously meet the advantages of few branches, low inertia, large working space, and relatively simple analytical solutions, and has good application prospects in the fields of complex component processing, assembly and sorting. Summary of the invention

[0007] The technical solution adopted to achieve the purpose of the present invention is: a six-degree-of-freedom high-speed parallel robot based on a linkage slide link and having an analytical correct solution, belonging to the field of robot technology; characterized in that: it includes a frame, a moving platform, six drive motors, an end effector, and three identical branches connected in parallel between the frame and the moving platform and uniformly distributed along the central axis of the frame, denoted as a first branch, a second branch, and a third branch;

[0008] The first branch is sequentially connected with a double-screw slider module, a double-rocker coupling mechanism, and an operating lever from the frame to the moving platform; the double-screw slider module includes a screw assembly, a guide rail, a slider 1, a slider 2, and a slider 3, wherein the screw assembly and the guide rail are fixed on the frame, the slider 1 and the slider 2 are respectively connected to the screw 1 and the screw 2 of the screw assembly through the moving pair 1 and the moving pair 2, and the slider 3 is connected to the guide rail through the moving pair 3; in each double-screw slider module, the screw 1 and the screw 2 are respectively connected to the motor 1 and the motor 2; in each branch, the moving pair 1 and the moving pair 2 are the driving pairs; the double-rocker The short link 1, short link 2 and short link 3 of the coupling mechanism are connected to the slider 1, slider 2 and slider 3 of the double screw slider module through the rotating pair 1, rotating pair 2 and rotating pair 5 respectively, and the left and right ends of the short link 3 are connected to the short link 1 and short link 2 through the rotating pair 3 and rotating pair 4 respectively; the operating rod is connected to the short link 3 of the double rocker coupling mechanism through the rotating pair 6; the moving platform is connected to the operating rod through the rotating pair 7, rotating pair 8 and rotating pair 9; the end actuator is fixedly connected to the moving platform; the first branch feature is replaced as follows: the rotating pair 7, rotating pair 8 and rotating pair 9 are replaced by ball pairs;

[0009] The directions of the moving pair 1, moving pair 2 and moving pair 3 are parallel to each other; the axes of the rotating pair 1, rotating pair 2, rotating pair 3 and rotating pair 4 are parallel to the axis of the rotating pair 5; the axis of the rotating pair 5 is perpendicular to the axis of the rotating pair 6; the axes of the rotating pair 7, rotating pair 8 and rotating pair 9 are intersecting;

[0010] The beneficial effects brought about by the technical solution provided by the embodiments of the present invention are as follows: the present invention realizes six-degree-of-freedom motion in a three-branch parallel configuration by applying a brand-new linkage slide-link mechanism, with fewer branches, less joint restrictions, less rod interference, and a larger working space; all drive components are fixed on the frame, the end mass is light, the mechanism inertia is low, and the motion performance is excellent; it has a relatively simple kinematic analytical solution, and provides a mechanism solution with better performance for the application of industrial equipment such as mobile cameras, which has far-reaching significance for robot control and has good application prospects in the fields of complex component processing, assembly and sorting. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 The schematic diagram of the whole structure of the six-degree-of-freedom high-speed parallel robot based on the linkage slide connecting rod and having an analytical solution is shown in the figure.

[0012] Figure 2 The first branch structure schematic diagram of the six-degree-of-freedom high-speed parallel robot based on the linkage slide link and having an analytical correct solution of the present invention is shown in FIG.

[0013] Figure 3 The schematic diagram of the double-screw slide module structure of the six-degree-of-freedom high-speed parallel robot based on the linkage slide connecting rod and having an analytical solution is shown in the figure.

[0014] Figure 4 The schematic diagram of the double pendulum coupling mechanism structure of the six-degree-of-freedom high-speed parallel robot based on the linkage slide link and having an analytical solution is shown in the figure.

[0015] Among them, 1-frame, 2-double-screw slide module, 3-moving platform, 4-end actuator, M1-motor 1, M2-motor 2, Ⅰ-first branch, Ⅱ-second branch, Ⅲ-third branch, A-screw assembly, S1-screw 1, S2-screw 2, S3-guide rail, C-double rocker coupling mechanism, H1-slider 1, H2-slider 2, H3-slider 3, B1-bearing seat 1, B2-bearing seat 2, B3-bearing seat 3, T1-upper rotation Rotating shaft, T2-lower rotating shaft, U1-upper U-shaped fork, U2-lower U-shaped fork, D1-short connecting rod one, D2-short connecting rod two, D3-short connecting rod three, L-operating lever, P1-moving pair one, P2-moving pair two, P3-moving pair three, R1-rotation pair one, R2-rotation pair two, R3-rotation pair three, R4-rotation pair four, R5-rotation pair five, R6-rotation pair six, R7-rotation pair seven, R8-rotation pair eight, R9-rotation pair nine. DETAILED DESCRIPTION

[0016] The revolving pair axis described in the following implementation examples refers to the center line around which the revolving pair rotates. The "upper", "lower", "left", "right", "front", "back", "horizontal" and other directions are based on the directions indicated in the drawings, and are for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the elements referred to must have a specific direction. Similarly, the shapes and sizes of the parts in the drawings do not reflect the actual proportions of the parts, but are only schematically illustrated in the present disclosure.

[0017] In order to simplify the drawings, only the parts related to the invention are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In the present disclosure, "one" not only means "only one", but also means "more than one".

[0018] The present invention provides a six-degree-of-freedom high-speed parallel robot based on a linkage slide and having an analytical solution, and its overall structure is as follows: Figure 1 As shown, it includes a frame 1, a moving platform 3, six drive motors, an end effector 4, and three identical branches connected in parallel between the frame 1 and the moving platform 3 and evenly distributed along the central axis of the frame 1, denoted as the first branch I, the second branch II, and the third branch III, characterized in that:

[0019] like Figure 2As shown, the first branch I is sequentially connected with a double-screw slider module 2, a double-rocker coupling mechanism C, an upper U-shaped fork U1, an operating rod L, a lower U-shaped fork U2, and a lower rotating shaft T2 from the frame 1 to the moving platform 3; the screw assembly A and the guide rail S3 of the double-screw slider module 2 are fixed on the frame 1; the bearing seat 1 B1, the bearing seat 2 B2, and the bearing seat 3 B3 of the double-rocker coupling mechanism C are respectively fixed to the slider 1 H1, the slider 2 H2 of the double-screw slider module 2 H2, slider three H3; the upper U-shaped fork U1 is connected to the upper rotation axis T1 of the double rocker coupling mechanism C through the rotation pair six R6; the operating rod L is fixedly connected to the upper U-shaped fork U1; the lower U-shaped fork U2 is connected to the operating rod L through the rotation pair seven R7; the lower rotation axis T2 is connected to the lower U-shaped fork U2 through the rotation pair eight R8; the moving platform 3 is connected to the lower rotation axis T2 through the rotation pair nine R9; the end effector 4 is fixedly connected to the moving platform 3;

[0020] like Figure 3 As shown, the double-screw slider module 2 includes a screw assembly A, a guide rail S3, a slider H1, a slider H2, a slider H3, a motor M1, and a motor M2; the slider H1 and the slider H2 are connected to the screw S1 and the screw S2 of the screw assembly A through the moving pair P1 and the moving pair P2, respectively, and the slider H3 is connected to the guide rail S3 through the moving pair P3; the screw S1 and the screw S2 are connected to the motor M1 and the motor M2, respectively; in each branch, the moving pair P1 and the moving pair P2 are driving pairs;

[0021] like Figure 4 As shown, the double rocker coupling mechanism C includes a bearing seat 1 B1, a bearing seat 2 B2, a bearing seat 3 B3, a short connecting rod 1 D1, a short connecting rod 2 D2, a short connecting rod 3 D3, and an upper rotating shaft T1; the short connecting rod 1 D1, the short connecting rod 2 D2, and the short connecting rod 3 D3 are respectively connected to the slider 1 H1, the slider 2 H2, and the slider 3 H3 of the double screw slider module 2 through a rotating pair 1 R1, a rotating pair 2 R2, and a rotating pair 5 R5; the left and right ends of the short connecting rod 3 D3 are respectively connected to the short connecting rod 1 D1 and the short connecting rod 2 D2 through a rotating pair 3 R3 and a rotating pair 4 R4; the upper rotating shaft T1 is fixedly connected to the short connecting rod 3 D3;

[0022] The directions of the above-mentioned moving pair P1, moving pair P2, and moving pair P3 are parallel to each other; the axes of the above-mentioned rotating pair R1, rotating pair R2, rotating pair R3, rotating pair R4 and the axis of rotating pair R5 are parallel to each other, and the axis of rotating pair R1 is perpendicular to the direction of the moving pair P1; the axis of the above-mentioned rotating pair R5 is perpendicular to the axis of rotating pair R6; the axis of the above-mentioned rotating pair R6 is perpendicular to the axis of rotating pair R7; the axes of the above-mentioned rotating pair R7, rotating pair R8, and rotating pair R9 converge; the axis of the above-mentioned rotating pair R9 is parallel to the plane of the moving platform 3.

[0023] In the absence of conflict, the above embodiments and features of the embodiments may be combined with each other. The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A six-degree-of-freedom high-speed parallel robot based on a linkage slide and having an analytical solution, belonging to the field of robotics; characterized by: It includes a frame, a moving platform, six driving motors, an end effector, and three identical branches connected in parallel between the frame and the moving platform and evenly distributed along the central axis of the frame, which are recorded as a first branch, a second branch, and a third branch; The first branch is sequentially connected with a double-screw slider module, a double-rocker coupling mechanism, and an operating lever from the frame to the moving platform; the double-screw slider module includes a screw assembly, a guide rail, a slider 1, a slider 2, and a slider 3, wherein the screw assembly and the guide rail are fixed on the frame, the slider 1 and the slider 2 are respectively connected to the screw 1 and the screw 2 of the screw assembly through the moving pair 1 and the moving pair 2, and the slider 3 is connected to the guide rail through the moving pair 3; in each double-screw slider module, the screw 1 and the screw 2 are respectively connected to the motor 1 and the motor 2; in each branch, the moving pair 1 and the moving pair 2 are the driving pairs; the short connecting rod 1, the short connecting rod 2, and the short connecting rod 3 of the double-rocker coupling mechanism are respectively connected to the motor 1 and the motor 2 through the rotating pair 1, the rotating pair 2, and the rotating pair 5 The slider 1, slider 2 and slider 3 of the double-screw slider module are connected, and the left and right ends of the short link 3 are respectively connected to the short link 1 and short link 2 through the rotating pair 3 and the rotating pair 4; the operating rod is connected to the short link 3 of the double rocker coupling mechanism through the rotating pair 6; the moving platform is connected to the operating rod through the rotating pair 7, the rotating pair 8 and the rotating pair 9; the end actuator is fixedly connected to the moving platform; the directions of the above-mentioned moving pair 1, the moving pair 2 and the moving pair 3 are parallel to each other; the axes of the above-mentioned rotating pair 1, the rotating pair 2, the rotating pair 3 and the rotating pair 4 are parallel to each other; the axis of the above-mentioned rotating pair 5 is perpendicular to the axis of the rotating pair 6; the axes of the above-mentioned rotating pair 7, the rotating pair 8 and the rotating pair 9 converge.

2. The six-degree-of-freedom high-speed parallel robot based on a linkage slide and having an analytical solution according to claim 1, characterized in that In the first branch, the seventh, eighth and ninth revolving joints are replaced by ball joints.

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