A three-degree-of-freedom horizontally mounted parallel robot

Abstract

The present invention provides a three-degree-of-freedom horizontally mounted parallel robot, comprising a fixed plate, a motor, an active arm, and a passive arm, wherein two motors are fixedly connected side by side to the upper side of the fixed plate, two active arms are located at the bottom of the fixed plate, and the front end of each active arm is fixedly connected to the output shaft of the corresponding motor, the end of each active arm is rotatably connected to a passive arm, the front ends of the two passive arms are stacked up and down and sleeved on a connecting shaft that can move vertically, and are rotatably connected to the connecting shaft, and a fixing mechanism is also connected between the front ends of the two passive arms, a cylinder arranged parallel to the connecting shaft is fixedly connected to the fixing mechanism, and a horizontally arranged connecting plate is fixedly connected to the bottom of the telescopic rod of the connecting shaft and the cylinder. The beneficial effects of the present invention are as follows: the synchronously moving cylinder and the connecting shaft are connected at the front ends of the two passive arms, and the lateral component of the connecting plate during operation is borne by the optical shaft, thereby avoiding bending of the telescopic rod of the cylinder and extending the service life of the structure.

Description

Technical Field

[0001] The invention belongs to the technical field of parallel robots, and in particular relates to a three-degree-of-freedom horizontally installed parallel robot. Background Art

[0002] In the field of industrial robots, robots are typically installed on production lines for production and sorting tasks. However, in the waste sorting industry, unlike the general 3C industry, the external environment is poor, and the space available for robot mounting is severely squeezed. Existing robots currently have high requirements for the working environment and installation space, and a large space needs to be reserved for robot mounting to ensure stable operation. Furthermore, in the waste sorting industry, robots must be able to quickly complete gripping, sorting, and placing tasks. Existing robot structures, in order to accommodate multi-degree-of-freedom movement, require drive motors to be installed at the joints of each connecting arm. This further increases the structural moment of inertia, and when operating at high speeds with heavy loads at the end, the end-of-line accuracy will significantly decline, failing to meet the requirements of this industry. Summary of the Invention

[0003] In view of this, the present invention aims to overcome the deficiencies of the above-mentioned problems in the prior art and proposes a three-degree-of-freedom horizontally mounted parallel robot.

[0004] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0005] A three-degree-of-freedom horizontally mounted parallel robot comprises a fixed plate, a motor, an active arm, and a driven arm. Two motors are fixedly connected side by side to the upper side of the fixed plate, two active arms are located at the bottom of the fixed plate, and the front end of each active arm is fixedly connected to the output shaft of the corresponding motor. The end of each active arm is rotatably connected to a driven arm. The front ends of the two driven arms are stacked up and sleeved on a connecting shaft that can move vertically, and are rotatably connected to the connecting shaft. A fixing mechanism is also connected between the front ends of the two driven arms. A cylinder arranged parallel to the connecting shaft is fixedly connected to the fixing mechanism. A horizontally arranged connecting plate is commonly fixed to the bottom of the telescopic rods of the connecting shaft and the cylinder.

[0006] Furthermore, the upper end of one active arm is rotatably connected to the end of one driven arm, and the lower end of the other active arm is rotatably connected to the end of the other driven arm.

[0007] Furthermore, one end of the driven arm connected to the active arm is fixed with a first fixing part, and the first fixing part includes a first fixing ring arranged vertically and a second fixing ring fixed horizontally on the circumferential outer wall of the first fixing ring. The end of the driven arm connected to the active arm is inserted into the second fixing ring, and the second fixing ring and the end of the driven arm are bonded and fixed together, and are riveted and fixed to the end of the driven arm evenly through multiple rivets in the circumferential direction of the second fixing ring.

[0008] Furthermore, a first countersunk hole is opened on the side of the end of the active arm away from the driven arm, and a fixed shaft with a T-shaped structure is fixed in the first countersunk hole, and the vertical section of the fixed shaft passes through the first countersunk hole and extends to the first fixed through hole on the first fixed ring, and the first fixed ring and the fixed shaft are rotatably connected together in the first fixed through hole through two angular contact bearings arranged in opposite directions.

[0009] Furthermore, an annular convex edge is circumferentially provided at the middle of the first fixed through hole of the first fixed ring, and an angular contact bearing is respectively provided on the upper and lower sides of the annular convex edge, and the upper and lower side walls of the annular convex edge are respectively abutted against the end faces of the outer rings of the corresponding angular contact bearings, and a first stop surface is provided at the lower end face of the inner ring of the angular contact bearing on the lower side of the vertical section of the fixed shaft, and the lower end face of the inner ring of the angular contact bearing on the lower side is tightly abutted against the first stop surface, and a first pressure cover is fixed to the end of the vertical section of the fixed shaft to cover the angular contact bearing on the upper side, and an annular groove is provided along the circumference of the vertical section between the two angular contact bearings on the vertical section of the fixed shaft.

[0010] Furthermore, the front end of the upper driven arm is fixed to the second fixing member, and the front end of the lower driven arm is fixed to the third fixing member.

[0011] The second fixing member includes a third fixing ring arranged vertically and a fourth fixing ring fixed horizontally to the circumferential outer wall of the third fixing ring. The front end of the upper driven arm is inserted into the fourth fixing ring, and the fourth fixing ring and the front end of the upper driven arm are bonded and fixed together, and are evenly riveted and fixed to the front end of the upper driven arm by multiple rivets in the circumferential direction of the fourth fixing ring.

[0012] The third fixing member includes a fifth fixing ring arranged vertically and a sixth fixing ring fixed horizontally to the circumferential outer wall of the fifth fixing ring. The front end of the lower driven arm is inserted into the sixth fixing ring, and the sixth fixing ring and the front end of the lower driven arm are bonded and fixed together, and are evenly riveted and fixed to the front end of the lower driven arm by multiple rivets in the circumferential direction of the sixth fixing ring.

[0013] A second fixing through hole is vertically opened in the middle of the third fixing ring, and a third fixing through hole is vertically opened in the middle of the fifth fixing ring. A shaft sleeve is commonly sleeved in the second fixing through hole and the third fixing through hole. A linear bearing is connected to the connecting groove at the lower part of the shaft sleeve in the third fixing through hole. The connecting shaft passes through the shaft sleeve and is connected to the linear bearing. A first deep groove ball bearing and a second deep groove ball bearing located below the first deep groove ball bearing are also connected to the second fixing through hole, and the first deep groove ball bearing and the second deep groove ball bearing are both connected to the shaft sleeve.

[0014] The fixing mechanism includes a first fixing plate and a second fixing plate. The first fixing plate is located between the fifth fixing ring and the third fixing ring and is fixedly sleeved on the outside of the shaft sleeve. The second fixing plate is located at the bottom of the fifth fixing ring and is fixedly sleeved on the outside of the linear bearing. The cylinder is fixedly connected to the first fixing plate and the second fixing plate.

[0015] Furthermore, the third fixing through hole includes a first mounting groove, a through hole, and a second mounting groove which are coaxially arranged to be interconnected from bottom to top. The second fixing plate is upwardly provided with an annular second limiting ridge corresponding to the first mounting groove, and an annular limiting groove is provided corresponding to the bottom of the linear bearing. The edge of the second fixing plate presses the bottom end of the fifth fixing ring and the second limiting ridge is embedded in the first mounting groove. The bottom of the linear bearing is tightly pressed in the limiting groove. The first fixing plate is downwardly provided with an annular first limiting ridge corresponding to the second mounting groove. An annular third limiting ridge is provided at the upper side of the first fixing plate corresponding to the inner ring of the second deep groove ball bearing. The edge of the first fixing plate presses the top end of the fifth fixing ring, and the first limiting ridge is embedded in the second mounting groove. The third limiting ridge presses the lower end surface of the inner ring of the second deep groove ball bearing.

[0016] A second stop surface is provided at the lower end surface of the outer ring of the first deep groove ball bearing in the second fixing through hole, and a third stop surface is provided at the upper end surface of the outer ring of the second deep groove ball bearing. The lower end surface of the outer ring of the first deep groove ball bearing is pressed against the second stop surface, and the upper end surface of the outer ring of the second deep groove ball bearing is pressed against the third stop surface. A second pressure cover is connected to the top of the third fixing ring through multiple fixing screws, and an annular fourth limiting ridge is provided at the bottom of the second pressure cover corresponding to the upper end surface of the outer ring of the first deep groove ball bearing, and the fourth limiting ridge is pressed against the upper end surface of the outer ring of the first deep groove ball bearing.

[0017] Furthermore, a fixing block is fixed to the outer end of the first fixing plate, a semicircular first groove is opened at the outer end of the first fixing plate, and threaded holes are provided on the front and rear sides of the opening of the first groove of the outer end of the first fixing plate. A semicircular second groove is opened at one end of the fixing block facing the first fixing plate, and a fixing hole is opened at the corresponding threaded hole. The first groove and the second groove are butted together to form a circular mounting groove, the cylinder passes through the mounting groove, and is fixed in the mounting groove by cooperation of the fixing hole, the threaded hole and the mounting screw. A limiting hole is opened at the nut at the bottom of the cylinder body of the second fixing plate corresponding to the cylinder, and the nut at the bottom of the cylinder body is inserted into the limiting hole.

[0018] Furthermore, a second countersunk hole is provided at the bottom of the connecting plate corresponding to the connecting shaft, and a connecting hole is provided at the bottom end of the connecting shaft. The connecting shaft is fixed to the upper side of the connecting plate through the cooperation of the second countersunk hole, the mounting screw and the connecting hole. A through hole is provided at the upper surface of the connecting plate corresponding to the telescopic rod of the cylinder, and a positioning hole connected to the through hole is provided at the bottom of the connecting plate. Two upper and lower distributed limit nuts are screwed to the bottom end of the telescopic rod, and the upper limit nut is abutted against the upper surface of the connecting plate, and the lower limit nut is embedded in the positioning hole.

[0019] Furthermore, auxiliary holes are provided on the side wall of the first fixing ring corresponding to the middle of the second fixing ring, on the side wall of the third fixing ring corresponding to the middle of the fourth fixing ring, and on the side wall of the fifth fixing ring corresponding to the middle of the sixth fixing ring.

[0020] Furthermore, the driven arm is a carbon fiber tube, and the first fixing member, the second fixing member and the third fixing member are all made of aluminum alloy.

[0021] Furthermore, a reducer is connected to the bottom of the motor, and the reducer is fixed to the fixed plate. The front end of the active arm is located at the bottom of the fixed plate and is connected to the reducer. A groove is opened at the bottom of the active arm, and an end cover is buckled at the opening of the groove. The end cover includes a cover plate and an inlay ring that is integrally formed with the cover plate and located on one side of the cover plate. The outer wall of the inlay ring is circumferentially provided with an annular groove with a V-shaped cross-section. The edge of the cover plate is pressed against the bottom end face of the active arm corresponding to the outer side of the groove, and the inlay ring is embedded in the groove. A screw positioning hole is provided at the corresponding annular groove on the outer side of the active arm, and a positioning screw is screwed in the screw positioning hole, and the front end of the positioning screw is pressed against the annular groove.

[0022] Compared with the prior art, the present invention has the following advantages:

[0023] (1) The three-degree-of-freedom horizontally mounted parallel robot described in the present invention is connected to a cylinder and a connecting shaft at the front ends of the two driven arms, and the cylinder and the connecting shaft are arranged in parallel. When the cylinder drives the connecting plate to move vertically, the connecting shaft moves vertically synchronously with the connecting plate. Since the connecting shaft is an optical shaft made of stainless steel, the optical shaft can withstand most of the lateral force components borne by the connecting plate during the operation of the robot (a small part of the lateral force components is borne by the cylinder and can be ignored compared with the force borne by the optical shaft), thereby avoiding the bending of the telescopic rod of the cylinder, playing a role in protecting the cylinder, enhancing the structural stability, and extending the service life of the structure;

[0024] (2) The three-degree-of-freedom horizontally mounted parallel robot described in the present invention uses a connecting shaft in conjunction with a linear bearing, which greatly reduces the weight of the robot's end and improves the end accuracy of the robot during high-altitude movement with a large load. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings, which constitute part of the present invention, are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0026] Figure 1 This is a schematic structural diagram of a three-degree-of-freedom horizontally mounted parallel robot according to an embodiment of the present invention;

[0027] Figure 2 This is a schematic structural diagram of a three-degree-of-freedom horizontally mounted parallel robot according to an embodiment of the present invention with the outer shell removed;

[0028] Figure 3 This is an exploded view of the connection structure between the end cover and the active arm according to an embodiment of the present invention;

[0029] Figure 4 A top view of a horizontally mounted three-degree-of-freedom parallel robot according to an embodiment of the present invention;

[0030] Figure 5 for Figure 4 Cross-sectional view in the AA direction;

[0031] Figure 6 for Figure 5 A partial enlarged view of point B in the middle;

[0032] Figure 7 for Figure 5 A partial enlarged view of point C in the middle;

[0033] Figure 8 This is a schematic diagram of the connection structure of the cylinder, connecting plate, and connecting shaft according to an embodiment of the present invention.

[0034] Description of reference numerals:

[0035] 1. Fixing plate; 2. Motor; 3. Active arm; 301. Groove; 302. Screw positioning hole; 303. First countersunk hole; 4. Driven arm; 5. Connecting shaft; 6. Cylinder; 601. Nut; 602. Limit nut; 7. Connecting plate; 701. Positioning hole; 702. Second countersunk hole; 8. First fixing member; 801. First fixing ring; 802. Second fixing ring; 803. First fixing through hole; 804. Auxiliary hole; 9. Second fixing member; 901. Third fixing ring; 902. Fourth fixing ring; 903. Second fixing through hole; 10. Third fixing part; 1001. Fifth fixing ring; 1002. Sixth fixing ring; 1003. Third fixing through hole; 11. First fixing plate; 1101. Fixing block; 1102. Mounting through groove; 12. Second fixing plate; 1201. Limiting hole; 13. End cover; 1301. Annular groove; 14. Reducer; 15. Housing; 16. Fixed shaft; 17. Angular contact bearing; 18. First pressure cover; 19. Linear bearing; 20. Bushing; 21. First deep groove ball bearing; 22. Second deep groove ball bearing; 23. Second pressure cover. DETAILED DESCRIPTION

[0036] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features therein may be combined with each other.

[0037] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0038] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0039] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0040] As shown in the figure, a three-degree-of-freedom horizontally mounted parallel robot includes a fixed disk 1, a motor 2, an active arm 3, and a driven arm 4. The two motors 2 are fixed side by side on the upper side of the fixed disk 1, and a housing 15 is fixed on the upper side of the fixed disk 1 to cover the outside of the two motors 2. The two active arms 3 are located at the bottom of the fixed disk 1, and the front end of each active arm 3 is fixed to the output shaft of the corresponding motor 2. The end of each active arm 3 is rotatably connected to a driven arm 4. The front ends of the two driven arms 4 are stacked up and sleeved on a vertically movable connecting shaft 5, and are rotatably connected to the connecting shaft 5. A fixing mechanism is also connected between the front ends of the two driven arms 4, and a cylinder 6 arranged parallel to the connecting shaft 5 is fixed on the fixing mechanism. The bottom of the telescopic rod of the connecting shaft 5 and the cylinder 6 is commonly fixed with a horizontally arranged connecting plate 7. In this embodiment, a cylinder 6 and a connecting shaft 5 are commonly connected at the front ends of the two driven arms 4, and the cylinder 6 and the connecting shaft 5 are arranged in parallel. When the cylinder 6 drives the connecting plate 7 to move vertically, the connecting shaft 5 moves vertically synchronously with the connecting plate 7. Since the connecting shaft 5 is an optical axis made of stainless steel, the optical axis can withstand most of the lateral force components borne by the connecting plate 7 during the operation of the robot (a small part of the lateral force is borne by the cylinder 6 and can be ignored compared with the force borne by the optical axis), thereby avoiding the bending of the telescopic rod of the cylinder 6, thereby protecting the cylinder 6, enhancing the structural stability, and extending the service life of the structure.

[0041] The upper end of one active arm 3 is rotatably connected to the end of one driven arm 4 , and the lower end of the other active arm 3 is rotatably connected to the end of the other driven arm 4 .

[0042] The end of the slave arm 4 connected to the master arm 3 is secured to a first fixing member 8. This first fixing member 8 comprises a vertically disposed first fixing ring 801 and a horizontally secured second fixing ring 802 attached to the circumferential outer wall of the first fixing ring 801. The end of the slave arm 4 connected to the master arm 3 is inserted into the second fixing ring 802. The second fixing ring 802 and the end of the slave arm 4 are adhesively bonded together and riveted to the end of the slave arm 4 using multiple rivets distributed uniformly around the second fixing ring 802. In this embodiment, the slave arm 4 is primarily constructed of carbon fiber. Both ends are connected to the aluminum alloy first fixing member 8 using high-strength epoxy glue and rivets, addressing the issue of insufficient rigidity in the slave arm 4. This design eliminates the problem of insufficient rigidity in the slave arm 4. Due to the lightweight and high rigidity of carbon fiber, the slave arm 4 fabricated using this design is less susceptible to bending even under high loads at the end. The carbon fiber tube and the aluminum alloy first fixing member 8 are bonded together using high-strength epoxy glue and then riveted together, resulting in a connection strength comparable to that of a traditional bolted connection and greater ease of operation. In this embodiment, the first fixing member 8 is an integrally formed structure.

[0043] A first countersunk hole 303 is provided on the side of the end of the active arm 3 away from the driven arm 4. A T-shaped fixed shaft 16 is fixedly connected in the first countersunk hole 303. The vertical section of the fixed shaft 16 passes through the first countersunk hole 303 and extends into the first fixed through-hole 803 on the first fixed ring 801. The first fixed ring 801 and the fixed shaft 16 are rotatably connected together in the first fixed through-hole 803 via two angular contact bearings 17 arranged in opposite directions. In this embodiment, the fixed shaft 16 is fixed in the first countersunk hole 303 by multiple screws. In this embodiment, two angular contact bearings 17 are installed back-to-back, which can withstand radial loads and axial loads at the same time. In addition, the bearing volume is smaller than that of a cross-stick bearing with the same function, making it more suitable for this type of miniaturized robot.

[0044] An annular ridge is circumferentially provided in the middle of the first fixed through hole 803 of the first fixed ring 801, and an angular contact bearing 17 is provided on the upper and lower sides of the annular ridge, and the upper and lower side walls of the annular ridge are respectively abutted against the end faces of the outer rings of the corresponding angular contact bearings 17. A first stop surface is provided at the lower end face of the inner ring of the angular contact bearing 17 on the vertical section of the fixed shaft 16, and the lower end face of the inner ring of the angular contact bearing 17 on the lower side is pressed against the first stop surface. A first pressure cover 18 is fixed to the end of the vertical section of the fixed shaft 16 to cover the angular contact bearing 17 on the upper side, and the angular contact bearing 17 is protected by the first pressure cover 18. An annular groove 1301 is provided along the circumference of the vertical section between the two angular contact bearings 17 on the vertical section of the fixed shaft 16 to facilitate the installation of the angular contact bearing 17 on the vertical section of the fixed shaft 16. In this embodiment, the lower angular contact bearing 17 is limited by the first stop surface on the fixed shaft 16 and the lower end surface of the annular convex edge, and the upper angular contact bearing 17 is limited by the upper end surface of the annular convex edge and the first pressure cover 18.

[0045] The front end of the upper driven arm 4 is fixed to the second fixing member 9, and the front end of the lower driven arm 4 is fixed to the third fixing member 10. The second fixing member 9 includes a vertically arranged third fixing ring 901 and a horizontally fixed fourth fixing ring 902 on the circumferential outer wall of the third fixing ring 901. The front end of the upper driven arm 4 is inserted into the fourth fixing ring 902, and the fourth fixing ring 902 and the front end of the upper driven arm 4 are bonded and fixed together, and a plurality of rivets are evenly connected to the upper driven arm 4 in the circumferential direction of the fourth fixing ring 902. The front end of the arm 4 is riveted together, and the third fixing member 10 includes a fifth fixing ring 1001 arranged vertically and a sixth fixing ring 1002 fixed horizontally on the circumferential outer wall of the fifth fixing ring 1001. The front end of the lower driven arm 4 is inserted into the sixth fixing ring 1002, and the sixth fixing ring 1002 and the front end of the lower driven arm 4 are bonded and fixed together, and are evenly riveted and fixed to the front end of the lower driven arm 4 by multiple rivets on the circumference of the sixth fixing ring 1002. The third fixing ring A second fixing through hole 903 is vertically opened in the middle of 901, and a third fixing through hole 1003 is vertically opened in the middle of the fifth fixing ring 1001. A shaft sleeve 20 is sleeved together in the second fixing through hole 903 and the third fixing through hole 1003. A linear bearing 19 is connected to the connecting groove at the lower part of the shaft sleeve 20 in the third fixing through hole 1003. The connecting shaft 5 is set through the shaft sleeve 20 and is connected to the linear bearing 19. A first deep groove ball bearing 21 and a first deep groove ball bearing 22 are also connected in the second fixing through hole 903. The second deep groove ball bearing 22 is below the deep groove ball bearing 21, and the first deep groove ball bearing 21 and the second deep groove ball bearing 22 are both connected to the sleeve 20. The fixing mechanism includes a first fixing plate 11 and a second fixing plate 12. The first fixing plate 11 is located between the fifth fixing ring 1001 and the third fixing ring 901 and is fixedly sleeved on the outside of the sleeve 20. The second fixing plate 12 is located at the bottom of the fifth fixing ring 1001 and is fixedly sleeved on the outside of the linear bearing 19. The cylinder 6 is fixedly connected to the first fixing plate 11 and the second fixing plate 12.

[0046] The third fixing through hole 1003 includes a first mounting groove, a through hole and a second mounting groove coaxially arranged from bottom to top and connected to each other. The second fixing plate 12 is upwardly provided with an annular second limiting ridge corresponding to the first mounting groove, and an annular limiting groove is provided at the bottom of the corresponding linear bearing 19. The edge of the second fixing plate 12 presses the bottom end of the fifth fixing ring 1001 and the second limiting ridge is embedded in the first mounting groove. The bottom of the linear bearing 19 is pressed tightly in the limiting groove. The first fixing plate 11 is downwardly provided with an annular first limiting ridge corresponding to the second mounting groove. The upper side of the first fixing plate 11 is provided with an annular third limiting ridge corresponding to the inner ring of the second deep groove ball bearing 22. The edge of the first fixing plate 11 presses the top of the fifth fixing ring 1001, and the first The limiting cam is embedded in the second mounting groove, and the third limiting cam is pressed against the lower end face of the inner ring of the second deep groove ball bearing 22. A second stop surface is provided at the lower end face of the outer ring of the first deep groove ball bearing 21 in the second fixing through hole 903, and a third stop surface is provided at the upper end face of the outer ring of the second deep groove ball bearing 22. The lower end face of the outer ring of the first deep groove ball bearing 21 is pressed against the second stop surface, and the upper end face of the outer ring of the second deep groove ball bearing 22 is pressed against the third stop surface. A second pressure cover 23 is connected to the top of the third fixing ring 901 through multiple fixing screws, and a fourth annular limiting cam is provided at the bottom of the second pressure cover 23 corresponding to the upper end face of the outer ring of the first deep groove ball bearing 21. The fourth limiting cam is pressed against the upper end face of the outer ring of the first deep groove ball bearing 21.

[0047] A fixing block 1101 is fixed to the outer end of the first fixing plate 11, and a semicircular first groove 301 is opened at the outer end of the first fixing plate 11. Threaded holes are provided on the front and rear sides of the opening of the first groove 301 at the outer end of the first fixing plate 11. A semicircular second groove 301 is opened at one end of the fixing block 1101 facing the first fixing plate 11, and a fixing hole is opened at the corresponding threaded hole. The first groove 301 and the second groove 301 are butted together to form a circular mounting groove 1102. The cylinder 6 passes through the mounting groove 1102 and is fixed in the mounting groove 1102 by the cooperation of the fixing hole, the threaded hole and the mounting screw. A limiting hole 1201 is opened on the second fixing plate 12 corresponding to the nut 601 at the bottom of the cylinder body of the cylinder 6, and the nut 601 at the bottom of the cylinder body of the cylinder 6 is inserted into the limiting hole 1201. In this embodiment, the nut 601 is a hexagonal nut, and the shape and size of the limiting hole 1201 match the hexagonal nut, so that the cylinder 6 is fixed by the first fixing plate 11, and then limited and supported by the limiting hole 1201 of the second fixing plate 12 to enhance the connection stability of the cylinder 6.

[0048] A second countersunk hole 702 is provided at the bottom of the connecting plate 7, corresponding to the connecting shaft 5. A connecting hole is provided at the bottom end of the connecting shaft 5. The connecting shaft 5 is fixedly connected to the upper side of the connecting plate 7 through the cooperation of the second countersunk hole 702, the mounting screw, and the connecting hole. A through hole is provided on the upper surface of the connecting plate 7, corresponding to the telescopic rod of the cylinder 6. A positioning hole 701 communicating with the through hole is provided at the bottom of the connecting plate 7. Two upper and lower limit nuts 602 are screwed onto the bottom end of the telescopic rod, with the upper limit nut 602 abutting against the upper surface of the connecting plate 7 and the lower limit nut 602 embedded in the positioning hole 701. In this embodiment, the limit nuts 602 are hexagonal nuts and the positioning hole 701 is a hexagonal inner hole. The two limit nuts 602 cooperate with the connecting plate 7 to secure the connecting plate 7 to the end of the telescopic rod of the cylinder 6. The cylinder 6 rises and falls, driving the connecting plate 7 to rise and fall, which in turn drives the connecting shaft 5 to rise and fall. The linear bearing 19 and the connecting shaft 5 mounted on the connecting plate 7 cooperate to withstand the horizontal force component exerted on the connecting plate 7 during robot operation, thereby protecting the cylinder 6, enhancing structural stability, and extending the service life of the structure. In this embodiment, the connecting plate 7 is also provided with multiple mounting holes for connecting an end effector.

[0049] Auxiliary holes 804 are provided on the side wall of the first fixing ring 801 at the middle of the second fixing ring 802, on the side wall of the third fixing ring 901 at the middle of the fourth fixing ring 902, and on the side wall of the fifth fixing ring 1001 at the middle of the sixth fixing ring 1002. On the one hand, they play a role in reducing weight, and on the other hand, they are used to discharge debris generated when the carbon fiber tube is riveted to the fixing piece.

[0050] The driven arm 4 is a carbon fiber tube, and the first fixing member 8, the second fixing member 9 and the third fixing member 10 are all made of aluminum alloy, which can reduce the deflection and deformation of the driven arm 4 during operation.

[0051] The motor 2 is connected to a reducer 14 at the bottom, which is fixed to the fixed plate 1. The front end of the active arm 3 is located at the bottom of the fixed plate 1 and is connected to the reducer 14. A groove 301 is provided at the bottom of the active arm 3, and an end cap 13 is fastened to the opening of the groove 301. The end cap 13 includes a cover plate and an inlay ring integrally formed with the cover plate and located on one side of the cover plate. The outer wall of the inlay ring is circumferentially provided with an annular groove 1301 with a V-shaped cross section. The edge of the cover plate is pressed against the bottom end face of the active arm 3 corresponding to the outer side of the groove 301, and the inlay ring is embedded in the groove 301. A screw positioning hole 302 is provided on the outer side of the active arm 3 corresponding to the annular groove 1301. A positioning screw is threaded into the screw positioning hole 302, and the front end of the positioning screw is pressed against the annular groove 1301. In this embodiment, the end cap 13 is provided to prevent dust from the connection between the front end of the active arm 3 and the reducer 14.

[0052] The working process of this embodiment is as follows:

[0053] During use, an end effector is pre-connected to the connecting plate 7 for specific clamping operations. When the robot performs the transfer action, the motor 2 on the fixed plate 1 first drives the active arm 3 and the driven arm 4, so that the connecting plate 7 moves above the material in a horizontal plane parallel to the fixed plate 1; when the end effector on the connecting plate 7 performs the clamping operation, the cylinder 6 is positively inflated to drive the connecting plate 7 downward, and after clamping the material, the cylinder 6 is reversely inflated to drive the connecting plate 7 upward. After completing the material clamping operation, the motor 2 runs, driving the connecting plate 7 to move the clamped material above the placement position, and then the cylinder 6 is positively inflated to complete the stacking action. Of course, the two motors 2 can operate at different speeds according to the actual working conditions.

[0054] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A three-degree-of-freedom horizontally mounted parallel robot, characterized by: It includes a fixed plate, a motor, an active arm, and a driven arm. The two motors are fixed side by side on the upper side of the fixed plate. The two active arms are located at the bottom of the fixed plate, and the front end of each active arm is fixed to the output shaft of the corresponding motor. The end of each active arm is rotatably connected to a driven arm. The front ends of the two driven arms are stacked up and down and sleeved on a connecting shaft that can move vertically, and are rotatably connected to the connecting shaft. A fixing mechanism is also connected between the front ends of the two driven arms. A cylinder arranged parallel to the connecting shaft is fixed to the fixing mechanism. The bottom of the telescopic rod of the connecting shaft and the cylinder is commonly fixed to a horizontally arranged connecting plate. The upper end of one active arm is rotatably connected to the end of one driven arm, and the lower end of another active arm is rotatably connected to the end of another driven arm. The front end of the upper follower arm is fixedly connected to the second fixing piece, and the front end of the lower follower arm is fixed to the third fixing piece, the second fixing piece includes a vertically arranged third fixing ring and a fourth fixing ring horizontally fixed to the circumferential outer wall of the third fixing ring, the front end end of the upper follower arm is inserted into the fourth fixing ring, and the fourth fixing ring and the front end end of the upper follower arm are bonded and fixed together, and are evenly riveted and fixed to the front end end of the upper follower arm through multiple rivets in the circumferential direction of the fourth fixing ring, the third fixing piece includes a vertically arranged fifth fixing ring and a sixth fixing ring horizontally fixed on the circumferential outer wall of the fifth fixing ring, the front end end of the lower follower arm is inserted into the sixth fixing ring, and the sixth fixing ring and the front end end of the lower follower arm are bonded and fixed together, and are evenly riveted to the front end end of the lower follower arm through multiple rivets in the circumferential direction of the sixth fixing ring. The third fixing ring is fixed together, a second fixing through hole is vertically opened in the middle of the third fixing ring, a third fixing through hole is vertically opened in the middle of the fifth fixing ring, a shaft sleeve is jointly sleeved in the second fixing through hole and the third fixing through hole, a linear bearing is connected in the connecting groove at the lower part of the shaft sleeve in the third fixing through hole, the connecting shaft passes through the shaft sleeve and is connected with the linear bearing, a first deep groove ball bearing and a second deep groove ball bearing located below the first deep groove ball bearing are also connected in the second fixing through hole, and the first deep groove ball bearing and the second deep groove ball bearing are both connected to the shaft sleeve, the fixing mechanism includes a first fixing plate and a second fixing plate, the first fixing plate is located between the fifth fixing ring and the third fixing ring and is fixedly sleeved on the outside of the shaft sleeve, the second fixing plate is located at the bottom of the fifth fixing ring and is fixedly sleeved on the outside of the linear bearing, the cylinder is fixedly connected to the first fixing plate and the second fixing plate, A fixing block is fixed to the outer end of the first fixing plate, and a semicircular first groove is opened at the outer end of the first fixing plate. Threaded holes are provided on the outer end of the first fixing plate at both sides of the front and rear of the first groove opening. A semicircular second groove is opened at one end of the fixing block facing the first fixing plate, and a fixing hole is opened at the corresponding threaded hole. The first groove and the second groove are butted together to form a circular mounting groove. The cylinder passes through the mounting groove and is fixed in the mounting groove by cooperating with the fixing hole, the threaded hole and the mounting screw. A limiting hole is opened at the nut at the bottom of the cylinder body of the cylinder corresponding to the second fixing plate, and the nut at the bottom of the cylinder body is inserted into the limiting hole.

2. The three-degree-of-freedom horizontally mounted parallel robot according to claim 1, characterized in that: One end of the driven arm connected to the active arm is fixed with a first fixing part, and the first fixing part includes a first fixing ring arranged vertically and a second fixing ring fixed horizontally on the circumferential outer wall of the first fixing ring. The end of the driven arm connected to the active arm is inserted into the second fixing ring, and the second fixing ring and the end of the driven arm are bonded and fixed together, and are riveted and fixed to the end of the driven arm evenly through multiple rivets in the circumferential direction of the second fixing ring.

3. The three-degree-of-freedom horizontally mounted parallel robot according to claim 2, characterized in that: A first countersunk hole is provided on the side of the end of the active arm away from the driven arm, and a fixed shaft with a T-shaped structure is fixed in the first countersunk hole. The vertical section of the fixed shaft passes through the first countersunk hole and extends to the first fixed through hole on the first fixed ring, and the first fixed ring and the fixed shaft are rotatably connected together in the first fixed through hole through two angular contact bearings arranged in opposite directions.

4. The three-degree-of-freedom horizontally mounted parallel robot according to claim 3, characterized in that: An annular ridge is circumferentially provided at the middle of the first fixed through hole of the first fixed ring, and an angular contact bearing is respectively provided on the upper and lower sides of the annular ridge, and the upper and lower side walls of the annular ridge are respectively abutted against the end faces of the outer rings of the corresponding angular contact bearings, and a first stop surface is provided at the lower end face of the inner ring of the angular contact bearing on the lower side of the vertical section of the fixed shaft, and the lower end face of the inner ring of the angular contact bearing on the lower side is tightly abutted against the first stop surface, and a first pressure cover is fixed to the end of the vertical section of the fixed shaft to cover the angular contact bearing on the upper side, and an annular groove is provided along the circumference of the vertical section between the two angular contact bearings on the vertical section of the fixed shaft.

5. The three-degree-of-freedom horizontally mounted parallel robot according to claim 1, characterized in that: The third fixing through hole includes a first mounting groove, a through hole, and a second mounting groove which are coaxially arranged to be interconnected from bottom to top, the second fixing plate is upwardly provided with an annular second limiting ridge corresponding to the first mounting groove, and an annular limiting groove is provided corresponding to the bottom of the linear bearing, the edge of the second fixing plate presses the bottom end of the fifth fixing ring and the second limiting ridge is embedded in the first mounting groove, and the bottom of the linear bearing is tightly pressed in the limiting groove, the first fixing plate is downwardly provided with an annular first limiting ridge corresponding to the second mounting groove, and an annular third limiting ridge is provided at the upper side of the first fixing plate corresponding to the inner ring of the second deep groove ball bearing, the edge of the first fixing plate presses the top end of the fifth fixing ring, and the first limiting ridge is embedded in the second mounting groove, and the third limiting ridge is tightly pressed against the lower end face of the inner ring of the second deep groove ball bearing. A second stop surface is provided at the lower end surface of the outer ring of the first deep groove ball bearing in the second fixing through hole, and a third stop surface is provided at the upper end surface of the outer ring of the second deep groove ball bearing. The lower end surface of the outer ring of the first deep groove ball bearing is pressed against the second stop surface, and the upper end surface of the outer ring of the second deep groove ball bearing is pressed against the third stop surface. A second pressure cover is connected to the top of the third fixing ring through multiple fixing screws, and an annular fourth limiting ridge is provided at the bottom of the second pressure cover corresponding to the upper end surface of the outer ring of the first deep groove ball bearing, and the fourth limiting ridge is pressed against the upper end surface of the outer ring of the first deep groove ball bearing.

6. The three-degree-of-freedom horizontally mounted parallel robot according to claim 1, characterized in that: A second countersunk hole is provided at the bottom of the connecting plate corresponding to the connecting shaft, and a connecting hole is provided at the bottom end of the connecting shaft. The connecting shaft is fixedly connected to the upper side of the connecting plate through the cooperation of the second countersunk hole, the mounting screw and the connecting hole. A through hole is provided at the upper surface of the connecting plate corresponding to the telescopic rod of the cylinder, and a positioning hole connected to the through hole is provided at the bottom of the connecting plate. Two upper and lower distributed limit nuts are screwed to the bottom end of the telescopic rod, and the upper limit nut is abutted against the upper surface of the connecting plate, and the lower limit nut is embedded in the positioning hole.

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