Robots based on parallel mechanisms

Abstract

The application discloses a robot based on a parallel mechanism, which comprises a parallel mechanism and an end effector, the parallel mechanism comprises a parallel mechanism body, an end motion pair, a structure redundant branch chain and a moving platform, the end effector is connected to the moving platform, and the parallel mechanism body is used for driving the moving platform to translate, lift and rotate; the parallel mechanism body comprises a first branch chain, the end motion pair is connected to the first branch chain and the moving platform, the first branch chain is connected to the structure redundant branch chain, the end motion pair is further connected to the end effector, and the structure redundant branch chain and the end motion pair are used for driving the end effector to perform a clamping operation. In the embodiment of the application, the structure redundant branch chain and the end motion pair are used for driving the end effector to perform the clamping operation, and the end effector does not need to be provided with a driving motor, so that the weight and the motion inertia of the moving platform are reduced, and the dynamic response is improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a robot based on a parallel mechanism. Background Technology

[0002] Industrial robots are mechatronic devices that can replace humans in performing various operational tasks. Industrial robots used in fields such as material handling can also be called material handling robots. In the process of printed circuit board assembly and production, material handling robots can perform the gripping and transporting of materials.

[0003] Currently, there are two main structural modes for picking and unloading robots: serial and parallel. Parallel picking and unloading robots use a parallel mechanism as the main body and also include a moving platform and an end effector connected to the moving platform.

[0004] However, the end effectors in parallel pick-and-place robots are usually pneumatic or magnetic suction type, which have specific requirements for materials. In addition, the drive motor of the suction type end effector is also mounted on the moving platform, which increases the weight and motion inertia of the moving platform and results in poor dynamic response. Summary of the Invention

[0005] This invention provides a robot based on a parallel mechanism, aiming to at least solve the technical problems of large weight and motion inertia of the moving platform and poor dynamic response in existing parallel pick-and-place robots.

[0006] This invention provides a robot based on a parallel mechanism, including a parallel mechanism and an end effector. The parallel mechanism includes a parallel mechanism body, an end kinematic pair, a structurally redundant branch, and a moving platform. The end effector is connected to the moving platform, and the parallel mechanism body is used to drive the moving platform to translate, lift, and rotate.

[0007] The main body of the parallel mechanism includes a first branch, the end effector is connected to the first branch and the moving platform, the first branch is connected to the structurally redundant branch, and the end effector is also connected to the end effector. The structurally redundant branch and the end effector are used to drive the end effector to perform a gripping operation.

[0008] Optionally, the first branch includes a first prismatic joint, a first revolute joint, and a second revolute joint, and the structurally redundant branch includes a second prismatic joint and a third revolute joint, the third revolute joint being connected to the second prismatic joint, and the third revolute joint being connected to the second revolute joint via a first rod.

[0009] Optionally, the end effector includes two clamping plates spaced apart along a first direction, the clamping plates and the moving platform forming a sliding pair, and the end motion pair being connected to the two clamping plates via a connecting rod assembly.

[0010] Optionally, the end kinematic pair includes an end prismatic pair, the movement direction of the end prismatic pair is perpendicular to the first direction, the connecting rod group includes a fourth rotary pair, two connecting rods and two fifth rotary pairs, the fourth rotary pair is connected to the end prismatic pair, the two fifth rotary pairs are respectively connected to the two clamping plates, and the fourth rotary pair is connected to the two fifth rotary pairs through the two connecting rods.

[0011] Optionally, the first revolute joint is connected to the first prismatic joint, the first revolute joint and the second revolute joint are connected through a second rod, and the end prismatic joint is connected to the second rod through a third rod.

[0012] Optionally, the end movable joint includes a base and an end slider. A slide rod is provided on the base, and the end slider is slidably connected to the slide rod. The extension direction of the slide rod is perpendicular to the first direction. The base is connected to the moving platform, and the end slider is connected to the fourth rotating joint.

[0013] Optionally, the parallel mechanism further includes a static platform, on which a driving unit is provided. The driving unit includes a first driving component and a second driving component. The first driving component is connected to the first branch, and the second driving component is connected to the structural redundant branch.

[0014] Optionally, the main body of the parallel mechanism further includes a second branch and a third branch. The second branch includes a third prismatic joint, a sixth rotary joint, and a seventh rotary joint. The sixth rotary joint is connected to the third prismatic joint and is connected to the seventh rotary joint via a fourth link. The third branch includes a fourth prismatic joint, an eighth rotary joint, and a ninth rotary joint. The eighth rotary joint is connected to the fourth prismatic joint and is connected to the ninth rotary joint via a fifth link. The seventh and ninth rotary joints are connected to the moving platform.

[0015] Optionally, the drive unit further includes a third drive member and a fourth drive member, wherein the third drive member is connected to the second branch and the fourth drive member is connected to the third branch.

[0016] Optionally, the moving platform includes a trapezoidal frame, which includes a top connector, two oblique connectors, and a bottom connector. The top connector and the bottom connector are spaced apart along a second direction, which is perpendicular to the first direction. The top connector is connected to the bottom connector through the two oblique connectors. The clamping plate and the bottom connector form a sliding joint. The base of the end sliding joint is connected to the top connector. The seventh rotating joint and the ninth rotating joint are connected to the top connector, and the seventh rotating joint and the ninth rotating joint are spaced apart along the first direction.

[0017] The static platform includes a mounting frame, and the dynamic platform is located within the mounting frame. The first, second, third, and fourth sliding joints are all mounted on the top of the mounting frame, and the first, second, third, and fourth driving components are also mounted on the top of the mounting frame. The top of the mounting frame has a rectangular cross-section, and the first, second, third, and fourth driving components are located at the four corners of the top of the mounting frame.

[0018] In this embodiment of the invention, the degrees of freedom of the entire parallel mechanism are increased by end-effector kinematic pairs and structurally redundant branches. The end-effector is driven by the structurally redundant branches and end-effector kinematic pairs to perform gripping operations, eliminating the need for a drive motor in the end-effector itself. This reduces the weight and inertia of the moving platform and improves dynamic responsiveness. Furthermore, since the end-effector picks up and places materials through gripping operations, it has no special requirements for the materials and is suitable for handling various materials. Compared to adsorption-type end-effectors, the gripping end-effector in this embodiment of the invention offers higher operational precision during material placement, enabling accurate material placement. Additionally, compared to serial mechanisms, the robot based on the parallel mechanism can achieve high-speed, high-precision, and high-stability material handling. Moreover, compared to redundant drive structures, the degrees of freedom of the entire parallel mechanism are increased by the end-effector kinematic pairs and structurally redundant branches in this embodiment of the invention, thereby expanding the functionality of the robot based on the parallel mechanism and enabling it to perform more operational functions to adapt to complex tasks. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0020] Figure 1 This is a schematic diagram of the principle of a robot based on a parallel mechanism provided in an embodiment of the present invention;

[0021] Figure 2This is a schematic diagram of the main body, end kinematic pair, and structurally redundant branch of the parallel mechanism provided in the embodiments of the present invention;

[0022] Figure 3 This is a schematic diagram of the Class II RRP rod assembly.

[0023] Figure 4 This is a schematic diagram of the main body and end kinematic pair of the parallel mechanism provided in the embodiment of the present invention;

[0024] Figure 5 This is a schematic diagram of the main body of the parallel mechanism provided in the embodiment of the present invention;

[0025] Figure 6 This is a schematic diagram of the three-dimensional structure of a robot based on a parallel mechanism provided in an embodiment of the present invention. Figure 1 ;

[0026] Figure 7 This is a schematic diagram of the three-dimensional structure of a robot based on a parallel mechanism provided in an embodiment of the present invention. Figure 2 ;

[0027] Figure 8 This is a partial structural diagram of a robot based on a parallel mechanism provided in an embodiment of the present invention.

[0028] Figure label:

[0029] 1-Parallel mechanism main body, 11-First branch, 111-Second link, 112-Third link, 12-Second branch, 121-Fourth link, 13-Third branch, 131-Fifth link, 2-End moving pair, 21-Base, 22-End slider, 3-Structural redundant branch, 31-First link, 4-Connecting rod group, 41-Connecting rod, 5-Static platform, 51-Mounting frame, 6-Moving platform, 61-Trapezoidal frame, 611-Top connector, 612-Bottom connector, 7-End actuator, 71-Clamping plate, 8-Drive unit, 81-First drive component, 82-Second drive component, 83-Third drive component, 84-Fourth drive component. Detailed Implementation

[0030] The technical solutions of the present invention will now be described with reference to the accompanying drawings in the embodiments of the present invention.

[0031] The embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention. The invention is described more specifically in the following paragraphs by way of example with reference to the accompanying drawings. It should be noted that the drawings are in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the invention.

[0032] With the rapid development of modern industry, many emerging technologies have arisen, and industrial robots are one of them. Industrial robots are mechatronic devices that can replace humans in performing various operational tasks, greatly improving production efficiency and stability. Therefore, industrial robots are playing an increasingly important role in modern industrial production. Because industrial robots incorporate multiple technologies, they can be applied in various fields, such as industry, logistics, sorting, material handling, and automation.

[0033] Industrial robots used in areas such as material handling can also be called material handling robots. In the PCBA production process, material handling robots can perform material gripping and transport operations. PCBA is short for Printed Circuit Board Assembly, which means the entire process of a bare PCB (Printed Circuit Board) undergoing SMT (Surface Mount Technology) mounting or DIP (Dual In-line Package) insertion.

[0034] Currently, there are two main structural modes for pick-and-place robots: serial and parallel. Serial pick-and-place robots use a serial mechanism as their main body, offering advantages such as simple structure, convenient control, and large workspace. However, they suffer from problems such as large cumulative errors and slow speed. The inherent shortcomings of the serial mechanism become apparent in actual production, significantly impacting PCBA production efficiency. Parallel pick-and-place robots use a parallel mechanism as their main body, and also include a moving platform and an end effector connected to the moving platform.

[0035] However, the end effectors in parallel pick-and-place robots are usually pneumatic or magnetic suction type, which have specific requirements for materials. In addition, the drive motor of the suction type end effector is also mounted on the moving platform, which increases the weight and motion inertia of the moving platform and results in poor dynamic response. Furthermore, the use of suction type end effectors leads to lower operation accuracy during material release, making it impossible to achieve precise material release operation.

[0036] To address the aforementioned problems, embodiments of the present invention provide a robot based on a parallel mechanism, which will be described in detail below.

[0037] Reference Figure 1 , Figure 2 and Figure 5The robot based on a parallel mechanism provided in this embodiment of the invention includes a parallel mechanism and an end effector 7. The parallel mechanism includes a parallel mechanism body 1, an end effector kinematic pair, a structural redundancy branch 3, and a moving platform 6. The end effector 2 is connected to the moving platform 6. The parallel mechanism body 1 is used to drive the moving platform 6 to translate, lift, and rotate. The parallel mechanism body 1 includes a first branch 11. The end effector kinematic pair is connected to the first branch 11 and the moving platform 6. The first branch 11 is connected to the structural redundancy branch 3. The end effector kinematic pair is also connected to the end effector 7. The structural redundancy branch 3 and the end effector kinematic pair are used to drive the end effector 7 to perform a gripping operation.

[0038] Specifically, this robot based on a parallel mechanism is used for picking up and placing materials in the PCBA production process. These materials can be resistors, capacitors, chips, etc. A parallel mechanism is defined as a closed-loop mechanism in which a moving platform and a stationary platform are connected by at least two independent kinematic chains, possessing two or more degrees of freedom and driven in parallel. The end effector can be a prismatic joint or a revolute joint. The moving platform 6 is connected to the lower end of the parallel mechanism body 1 and is used to suspend the load, operating within the reach of the kinematic chains. In the figure, the XYZ coordinate system represents the coordinate system of the stationary platform 5, and the wuv coordinate system represents the coordinate system of the moving platform 6. The end effector 7 can include two clamping plates 71. When the two clamping plates 71 move closer together, they clamp the material; when they move further apart, they release the material. The relative motion between the two clamping plates 71 can be either prismatic or revolute.

[0039] When selecting the main body 1 of the parallel mechanism, considering the PCBA production process, the robot based on the parallel mechanism needs to achieve translation, lifting, and rotation. Therefore, the moving platform 6 needs to have at least three degrees of freedom: Tx, Ty, and Rz. Thus, the 3-PRR parallel mechanism, which is more suitable for the actual production process, is selected as the main body 1. Here, Tx represents the X-axis translational degree of freedom, Ty represents the Y-axis translational degree of freedom, and Rz represents the Z-axis rotational degree of freedom. In PRR, R represents a revolute joint, and P represents a prismatic joint. The specific structure of the main body 1 of the parallel mechanism using the 3-PRR parallel mechanism is shown in [reference needed]. Figure 5 The main body 1 of the parallel mechanism includes a first branch 11, a second branch 12 and a third branch 13. The first branch 11 includes a first prismatic joint A1, a first rotary joint B1 and a second rotary joint C1. The second branch 12 includes a third prismatic joint A2, a sixth rotary joint B2 and a seventh rotary joint C2. The sixth rotary joint B2 is connected to the third prismatic joint A2 and is connected to the seventh rotary joint C2 through a fourth link 121. The third branch 13 includes a fourth prismatic joint A3, an eighth rotary joint B3 and a ninth rotary joint C3. The eighth rotary joint B3 is connected to the fourth prismatic joint A3 and is connected to the ninth rotary joint C3 through a fifth link 131. The seventh rotary joint C2 and the ninth rotary joint C3 are connected to the moving platform 6.

[0040] In addition to the translational, lifting, and rotational degrees of freedom of the moving platform 6, the robot based on the parallel mechanism also needs the operational degrees of freedom for gripping and unloading materials. This cannot be achieved solely with the 3-PRR parallel mechanism and the three degrees of freedom of the moving platform 6; therefore, an additional degree of freedom needs to be added to the three degrees of freedom of the moving platform. There are two main methods for introducing degrees of freedom into a planar parallel mechanism: one is to add a rotational degree of freedom, and the other is to add a translational degree of freedom. To facilitate the gripping and unloading operations, this embodiment of the invention introduces a sliding joint at the connection point between the end of the first branch 11 and the moving platform 6, i.e., an end sliding joint 2. After introducing the end sliding joint 2 into the main body 1 of the parallel mechanism, the following is obtained: Figure 4 The 2-PRR & PRRP parallel mechanism is shown.

[0041] The aforementioned 2-PRR&PRRP parallel mechanism introduces an additional local degree of freedom, but the number of drives does not increase, making this local degree of freedom uncontrollable. Therefore, additional branches are needed to give the robot based on the parallel mechanism a definite motion. To simplify the control process and increase the symmetry of the branches, PRR is chosen as the structural redundancy branch 3 to control the extra local degree of freedom. After adding the structural redundancy branch 3 to the first branch 11, the following is obtained: Figure 2 The parallel mechanism shown is based on a structurally redundant branch 3. The structurally redundant branch 3 may include a second prismatic joint A4 and a third revolute joint B4. The third revolute joint B4 is connected to the second prismatic joint A4, and the third revolute joint B4 is connected to the second revolute joint C1 through a first link 31.

[0042] like Figure 2 The parallel mechanism based on the structurally redundant branch 3 shown has a defined motion, and the number of degrees of freedom already meets production needs. Based on this, a connection structure between the end effector and the end effector 7 needs to be designed to enable the end effector 7 to perform gripping operations via the structurally redundant branch 3 and the end effector. Specifically, the end effector is connected to the end effector 7 via a connecting rod group 4. Through its cooperation with the connecting rod group 4, the end effector moves, causing the connecting rod group 4 to actuate and drive the two clamping plates 71 to perform material handling operations. The end effector includes an end prismatic joint 2. The connecting rod group 4 may include a fourth revolute joint R1, two connecting rods 41, and two fifth revolute joints R2. The fourth revolute joint R1 is connected to the end prismatic joint 2, and the two fifth revolute joints R2 are respectively connected to the two clamping plates 71. The fourth revolute joint R1 is connected to the two fifth revolute joints R2 via the two connecting rods 41. To avoid introducing additional degrees of freedom and driving numbers, the connecting rod group 4 is designed based on the Class II group - RRP rod group.

[0043] The robot based on a parallel mechanism provided in this embodiment of the invention has four drives and four degrees of freedom. The moving platform 6 has three degrees of freedom. The number of drives of the robot based on a parallel mechanism provided in this embodiment of the invention is equal to the number of degrees of freedom, and greater than the number of degrees of freedom of the moving platform 6.

[0044] In serial pick-and-place robots, the drive motors are mostly directly mounted at the joints of the robotic arm, resulting in a large overall mass and inertia of the robotic arm. This reduces the robot's mechanical performance, grasping speed, and transmission efficiency. Furthermore, to increase the degrees of freedom of the mechanism, serial pick-and-place robots require an increase in the number of joints. However, the motion error of the end effector is the accumulation of errors at each kinematic pair, which reduces the operational accuracy of the moving platform. In this embodiment of the invention, the robot based on a parallel mechanism uses a parallel mechanism as its main body, possessing characteristics such as high speed, high precision, and high stability. This improves the pick-and-place accuracy, speed, and stability in the PCBA production process, significantly enhancing PCBA production efficiency.

[0045] In this embodiment of the invention, the degrees of freedom of the entire parallel mechanism are increased by the end-effector kinematic pair and the structural redundancy branch 3. The end-effector 7 is driven by the structural redundancy branch 3 and the end-effector kinematic pair to perform the gripping operation. The end-effector 7 itself does not need to be equipped with a drive motor, thereby reducing the weight and motion inertia of the moving platform 6 and improving the dynamic response. In addition, compared with the adsorption type end-effector, the gripping type end-effector 7 in this embodiment of the invention has high operation accuracy when discharging materials, and can achieve precise material discharging operation. Furthermore, compared with the serial mechanism, the robot based on the parallel mechanism can achieve high-speed, high-precision, and high-stability material handling.

[0046] Compared to serial picking and placing robots, parallel picking and placing robots, while often used in high-speed and high-precision applications, typically employ suction-type end effectors. Suction-type end effectors are designed for specific tasks and include pneumatic suction cups and electromagnetic suction cups. Pneumatic suction cups have high requirements for the shape and roughness of the material surface, while electromagnetic suction cups require the material to be steel. Neither of these types of suction-type actuators is suitable for picking and placing electronic materials such as resistors, capacitors, and chips; they are only applicable to specific gripping situations. In this embodiment of the invention, since the end effector 7 picks and places materials through a clamping operation, it has no special requirements for the materials and is suitable for picking and placing various materials.

[0047] Redundant branches that can be introduced into parallel mechanisms include structural redundancy branches and drive redundancy branches. Structural redundancy refers to a situation where the number of drives in the entire parallel mechanism equals the total number of degrees of freedom (DOF) of the entire parallel mechanism, which in turn exceeds the number of DDFs of the moving platform. Drive redundancy refers to a situation where the number of drives in the entire parallel mechanism exceeds the total number of DDFs of the entire parallel mechanism, which equals the number of DDFs of the moving platform. Drive redundancy increases the number of drives, enabling better trajectory planning and force / torque distribution, but it does not add additional DDFs to the parallel mechanism. Structural redundancy increases the number of DDFs, allowing the structurally redundant parallel mechanism to perform more operational functions. Compared to drive redundancy structures, in this embodiment of the invention, the DDFs of the entire parallel mechanism are increased through the setting of end effector kinematic pairs and structural redundancy branches, thereby achieving functional expansion of the robot based on the parallel mechanism. This allows the robot based on the parallel mechanism to perform more operational functions to adapt to increasingly complex operational tasks.

[0048] The parallel mechanism-based robot provided in this invention increases the number of degrees of freedom by introducing redundant structural branches and end effector kinematic pairs. Compared to traditional parallel pick-and-place robots, this invention introduces an additional number of degrees of freedom and drives through redundant structural branches and end effector kinematic pairs to realize the pick-and-place operation of the end effector, thereby enriching the types of end effectors and enabling the parallel mechanism-based robot to perform more complex operational tasks.

[0049] Reference Figure 1 , Figure 2 , Figure 4 and Figure 5 The first branch 11 includes a first prismatic joint A1, a first rotary joint B1, and a second rotary joint C1. The structural redundant branch 3 includes a second prismatic joint A4 and a third rotary joint B4. The third rotary joint B4 is connected to the second prismatic joint A4 and is connected to the second rotary joint C1 through the first rod 31.

[0050] Specifically, the movement of the first prismatic joint A1 is driven by the first driving member 81, and the movement of the second prismatic joint A4 is driven by the second driving member 82. A first revolute joint B1 is connected to the first prismatic joint A1, and the first revolute joint B1 is connected to the second revolute joint C1 via the second link 111. The end effector kinematic joint is connected to the second link 111 via the third link 112. The direction of the central axis of the first prismatic joint A1 can be referenced... Figure 1 China 31 The direction indicated by the arrow, and the direction of the central axis of the second sliding joint A4, can be referenced. Figure 1 China 41 The direction indicated by the arrow, and the direction of the central axis of the first revolute joint B1, can be referenced. Figure 1 China 32The direction indicated by the arrow, and the direction of the central axis of the second revolute joint C1, can be referenced. Figure 1 China 33 The direction indicated by the arrow, and the direction of the central axis of the third revolute joint B4, can be referenced. Figure 1 China 42 The arrow indicates the direction. In this embodiment of the invention, to simplify the control process and increase the symmetry of the branch, PRR is used as the structurally redundant branch 3 to control the excess local degrees of freedom.

[0051] Reference Figure 6 The end effector 7 includes two clamping plates 71 spaced apart along a first direction. The clamping plates 71 and the moving platform 6 form a sliding pair. The end motion pair is connected to the two clamping plates 71 through a connecting rod group 4.

[0052] Specifically, such as Figure 2 The parallel mechanism based on the structurally redundant branch 3 shown has a defined motion, and the number of degrees of freedom already meets production needs. Based on this, it is necessary to design a connection structure between the end effector and the end effector 7 to enable the end effector 7 to perform gripping operations via the structurally redundant branch 3 and the end effector. In this embodiment, the end effector is specifically connected to the end effector 7 via a connecting rod group 4. Through its cooperation with the connecting rod group 4, the end effector moves, causing the connecting rod group 4 to actuate, driving the two clamping plates 71 to perform material handling operations.

[0053] The first direction can be referenced. Figure 6 The direction indicated by arrow D. When the two clamping plates 71 move closer together, they are used to clamp materials; when they move further apart, they release the materials. The end effector 7 performs clamping operations by moving the two clamping plates 71 closer together or further apart via the connecting rod assembly 4. Specifically, the connecting rod assembly 4 can be designed based on the Class II RRP rod assembly, in which case it includes a fourth revolute joint R1, two connecting rods 41, and two fifth revolute joints R2. In this embodiment, the clamping plates 71 and the moving platform 6 form a sliding joint, and the clamping operation can be achieved through the movement, resulting in a simple structure for the end effector 7.

[0054] Reference Figure 1 The end kinematic pair includes an end sliding pair 2, the movement direction of which is perpendicular to the first direction. The connecting rod group 4 includes a fourth rotary pair R1, two connecting rods 41 and two fifth rotary pairs R2. The fourth rotary pair R1 is connected to the end sliding pair 2, and the two fifth rotary pairs R2 are respectively connected to two clamping plates 71. The fourth rotary pair R1 is connected to the two fifth rotary pairs R2 through the two connecting rods 41.

[0055] Specifically, the direction of the central axis of the end-effector 2 can be referred to Figure 2 China34 The arrow indicates the direction. The end effector includes an end prismatic joint 2. When the clamping plate 71 and the moving platform 6 form a prismatic joint, the robot based on a parallel mechanism provided in this embodiment of the invention introduces a degree of freedom of movement. To avoid introducing additional degrees of freedom and a larger number of drives, the connecting rod group 4 is designed based on the Class II group-RRP rod group. The specific structure of the Class II group-RRP rod group is detailed below. Figure 3 The Class II RRP linkage consists of three prismatic joints and three revolute joints. Figure 3 In this context, R represents a revolute joint and P represents a prismatic joint.

[0056] Reference Figure 1 and Figure 2 The first revolute joint B1 is connected to the first prismatic joint A1. The first revolute joint B1 is connected to the second revolute joint C1 via the second rod 111. The end prismatic joint 2 is connected to the second rod 111 via the third rod 112. Specifically, the third rod 112 is connected to the end slider 22, and the end of the third rod 112 away from the second rod 111 is rotatably connected to the end slider 22.

[0057] Reference Figure 6 The end moving pair 2 includes a base 21 and an end slider 22. A slide rod is provided on the base 21, and the end slider 22 is slidably connected to the slide rod. The extension direction of the slide rod is perpendicular to the first direction. The base 21 is connected to the moving platform 6, and the end slider 22 is connected to the fourth rotating pair R1.

[0058] Specifically, the base 21 is screwed onto the moving platform 6, and the base 21 moves together with the moving platform 6. The extension direction of the slide rod can be referenced... Figure 6 The direction indicated by arrow E. The end slider 22 is connected to the second rod 111 via the third rod 112. In this embodiment of the invention, a sliding pair is introduced between the first branch 11 and the moving platform 6 through the arrangement of the base 21 and the end slider 22, resulting in a simple structure.

[0059] Reference Figure 1 , Figure 6 and Figure 8 The parallel mechanism also includes a static platform 5, on which a drive unit 8 is provided. The drive unit 8 includes a first drive component 81 and a second drive component 82. The first drive component 81 is connected to the first branch 11, and the second drive component 82 is connected to the structural redundancy branch 3.

[0060] Specifically, the static platform 5 is used to house and fix the drive unit 8 and support the entire device, ensuring the smooth operation of the robot based on the parallel mechanism under high-frequency and high-intensity working conditions. The static platform 5 is also used to install and fix the top of the parallel mechanism. Both the first drive member 81 and the second drive member 82 can be motors. The first drive member 81 is specifically connected to the first prismatic joint A1, and the first drive member 81 is used to drive the first prismatic joint A1 to move via a ball screw. The second drive member 82 is specifically connected to the second prismatic joint A4, and the second drive member 82 is used to drive the second prismatic joint A4 to move via a ball screw. In this embodiment of the invention, the first branch 11 and the structurally redundant branch 3 are driven by independent first drive members 81 and second drive members 82, respectively, resulting in flexible motion control.

[0061] Reference Figure 1 , Figure 4 and Figure 5 The main body 1 of the parallel mechanism also includes a second branch 12 and a third branch 13. The second branch 12 includes a third prismatic joint A2, a sixth rotary joint B2 and a seventh rotary joint C2. The sixth rotary joint B2 is connected to the third prismatic joint A2 and is connected to the seventh rotary joint C2 through a fourth link 121. The third branch 13 includes a fourth prismatic joint A3, an eighth rotary joint B3 and a ninth rotary joint C3. The eighth rotary joint B3 is connected to the fourth prismatic joint A3 and is connected to the ninth rotary joint C3 through a fifth link 131. The seventh rotary joint C2 and the ninth rotary joint C3 are connected to the moving platform 6.

[0062] Specifically, the direction of the central axis of the third sliding joint A2 can be referred to Figure 1 China 11 The direction indicated by the arrow, and the direction of the central axis of the sixth revolute joint B2, can be referenced. Figure 1 China 12 The direction indicated by the arrow, and the direction of the central axis of the seventh revolute joint C2, can be referenced. Figure 1 China 13 The direction indicated by the arrow, and the direction of the central axis of the fourth moving joint A3, can be referenced. Figure 1 China 21 The direction indicated by the arrow, and the direction of the central axis of the eighth revolute joint B3, can be referenced. Figure 1 China 22 The direction indicated by the arrow, and the direction of the central axis of the ninth revolute joint C3, can be referenced. Figure 1 China 23 The arrow indicates the direction. In this embodiment of the invention, the 3-PRR parallel mechanism, which is composed of the first branch 11, the second branch 12, and the third branch 13, is more suitable for actual production processes when used as the main body 1 of the parallel mechanism.

[0063] Reference Figure 8The drive unit 8 also includes a third drive member 83 and a fourth drive member 84. The third drive member 83 is connected to the second branch 12, and the fourth drive member 84 is connected to the third branch 13.

[0064] Specifically, both the third driving component 83 and the fourth driving component 84 can be motors. The third driving component 83 is specifically connected to the third prismatic joint A2, and is used to drive the third prismatic joint A2 to move via a ball screw. The fourth driving component 84 is specifically connected to the fourth prismatic joint A3, and is used to drive the fourth prismatic joint A3 to move via a ball screw. In this embodiment of the invention, the second branch 12 and the third branch 13 are driven by independent third driving components 83 and fourth driving components 84 respectively, resulting in flexible motion control. In summary, the robot based on a parallel mechanism provided in this embodiment of the invention has four driving components and four degrees of freedom. The moving platform 6 has three degrees of freedom. The robot based on a parallel mechanism provided in this embodiment of the invention has a driving component number equal to the number of degrees of freedom, and greater than the number of degrees of freedom of the moving platform 6.

[0065] Reference Figures 6 to 8 The moving platform 6 includes a trapezoidal frame 61, which includes a top connector 611, two oblique connectors and a bottom connector 612. The top connector 611 and the bottom connector 612 are spaced apart along a second direction, which is perpendicular to the first direction. The top connector 611 is connected to the bottom connector 612 through the two oblique connectors. The clamping plate 71 and the bottom connector 612 form a sliding pair. The base 21 in the end sliding pair 2 is connected to the top connector 611. The seventh rotating pair C2 and the ninth rotating pair C3 are connected to the top connector 611 and are spaced apart along the first direction.

[0066] The static platform 5 includes a mounting frame 51, and the moving platform 6 is located inside the mounting frame 51. The first sliding joint A1, the second sliding joint A4, the third sliding joint A2, and the fourth sliding joint A3 are all mounted on the top of the mounting frame 51. The first driving component 81, the second driving component 82, the third driving component 83, and the fourth driving component 84 are all mounted on the top of the mounting frame 51. The top of the mounting frame 51 has a rectangular cross-section, and the first driving component 81, the second driving component 82, the third driving component 83, and the fourth driving component 84 are located at the four corners of the top of the mounting frame 51.

[0067] Specifically, for the second direction, please refer to... Figure 6The direction indicated by arrow E. The two oblique connectors can be symmetrically arranged. The base 21 of the end sliding joint 2 is screwed onto the top connector 611. The seventh rotary joint C2 and the ninth rotary joint C3 are located on opposite sides of the base 21, and the bottom connector 612 is located below the base 21. The first drive member 81, the second drive member 82, the third drive member 83, and the fourth drive member 84 can all be motors. The mounting frame 51 has a first side and a second side along a first direction. The first drive member 81 and the third drive member 83 are both located on the first side, and the second drive member 82 and the fourth drive member 84 are both located on the second side. (Refer to...) Figure 8 Weight reduction grooves can be provided on the first member 31, the second member 111, the third member 112, the fourth member 121, and the fifth member 131.

[0068] In summary, the robot based on a parallel mechanism provided in this embodiment of the invention increases the degrees of freedom of the entire parallel mechanism through end-effector kinematic pairs and structurally redundant branches. Furthermore, the end-effector is driven by the structurally redundant branches and end-effector kinematic pairs to perform gripping operations, eliminating the need for a drive motor in the end-effector itself. This reduces the weight and inertia of the moving platform and improves dynamic responsiveness. In addition, compared to adsorption-type end-effectors, the gripping end-effector 7 in this embodiment of the invention offers higher operational accuracy during material release, enabling precise material release operations. Moreover, compared to serial mechanisms, the robot based on a parallel mechanism can achieve high-speed, high-precision, and high-stability material handling.

[0069] The parallel mechanism-based robot provided in this invention increases the number of degrees of freedom by introducing structurally redundant branches and end effector kinematic pairs. Compared to traditional parallel pick-and-place robots, this invention introduces an additional number of degrees of freedom and drives through structurally redundant branches and end effector kinematic pairs to realize the pick-and-place operation of the end effector, thereby enriching the types of end effectors and enabling the parallel mechanism-based robot to perform more complex operation tasks. Furthermore, the parallel mechanism improves the speed, accuracy, and stability of the robot. Compared to drive-redundant parallel robots, the structural redundancy design in this invention increases the overall degrees of freedom, expanding the functionality of the original parallel pick-and-place robot and enabling it to perform more operational functions to adapt to increasingly complex operation tasks.

[0070] It should be noted that for other similar products, when their degrees of freedom are restricted, the design of this robot based on a parallel mechanism can be referenced to introduce redundant branches in the structure, thereby expanding the functionality.

[0071] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0072] It should be noted that when a component is described as "fixed to" another component, it can be directly on the other component or may have a component in between. When a component is considered "connected to" another component, it can be directly connected to the other component or may have a component in between. When a component is considered "set on" another component, it can be directly set on the other component or may have a component in between. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0073] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0074] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

[0075] The robot based on a parallel mechanism provided by the present invention has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the structure and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A robot based on a parallel mechanism, characterized in that, It includes a parallel mechanism and an end effector. The parallel mechanism includes a parallel mechanism body, an end kinematic pair, a structurally redundant branch, and a moving platform. The end effector is connected to the moving platform. The parallel mechanism body is used to drive the moving platform to translate, lift, and rotate. The main body of the parallel mechanism includes a first branch chain, the end effector is connected to the first branch chain and the moving platform, the first branch chain is connected to the structural redundancy branch chain, and the end effector is also connected to the end effector. The structural redundancy branch chain and the end effector are used to drive the end effector to perform a gripping operation. The first branch includes a first prismatic joint, a first revolute joint, and a second revolute joint. The structurally redundant branch includes a second prismatic joint and a third revolute joint. The third revolute joint is connected to the second prismatic joint and is connected to the second revolute joint through a first rod. The end effector includes two clamping plates spaced apart along a first direction. The clamping plates and the moving platform form a sliding pair. The end motion pair is connected to the two clamping plates through a connecting rod group. The end-effector includes an end-effector locating joint, the locating direction of which is perpendicular to the first direction. The connecting rod assembly includes a fourth rotating joint, two connecting rods, and two fifth rotating joints. The fourth rotating joint is connected to the end-effector locating joint, and the two fifth rotating joints are respectively connected to the two clamping plates. The fourth rotating joint is connected to the two fifth rotating joints through the two connecting rods. The parallel mechanism further includes a static platform, on which a driving unit is provided. The driving unit includes a first driving component and a second driving component. The first driving component is connected to the first branch, and the second driving component is connected to the structural redundant branch.

2. The robot based on a parallel mechanism according to claim 1, characterized in that, The first revolute joint is connected to the first prismatic joint, the first revolute joint and the second revolute joint are connected by a second rod, and the end prismatic joint is connected to the second rod by a third rod.

3. The robot based on a parallel mechanism according to claim 1, characterized in that, The end-effector includes a base and an end slider. A slide rod is provided on the base, and the end slider is slidably connected to the slide rod. The extension direction of the slide rod is perpendicular to the first direction. The base is connected to the moving platform, and the end slider is connected to the fourth rotating joint.

4. The robot based on a parallel mechanism according to claim 1, characterized in that, The main body of the parallel mechanism further includes a second branch and a third branch. The second branch includes a third prismatic joint, a sixth rotary joint, and a seventh rotary joint. The sixth rotary joint is connected to the third prismatic joint and is connected to the seventh rotary joint via a fourth link. The third branch includes a fourth prismatic joint, an eighth rotary joint, and a ninth rotary joint. The eighth rotary joint is connected to the fourth prismatic joint and is connected to the ninth rotary joint via a fifth link. The seventh and ninth rotary joints are connected to the moving platform.

5. The robot based on a parallel mechanism according to claim 4, characterized in that, The drive unit further includes a third drive member and a fourth drive member, wherein the third drive member is connected to the second branch and the fourth drive member is connected to the third branch.

6. The robot based on a parallel mechanism according to claim 5, characterized in that, The moving platform includes a trapezoidal frame, which includes a top connector, two oblique connectors, and a bottom connector. The top connector and the bottom connector are spaced apart along a second direction, which is perpendicular to the first direction. The top connector is connected to the bottom connector through the two oblique connectors. The clamping plate and the bottom connector form a sliding joint. The base of the end sliding joint is connected to the top connector. The seventh rotating joint and the ninth rotating joint are connected to the top connector, and the seventh rotating joint and the ninth rotating joint are spaced apart along the first direction. The static platform includes a mounting frame, and the dynamic platform is located within the mounting frame. The first, second, third, and fourth sliding joints are all mounted on the top of the mounting frame, and the first, second, third, and fourth driving components are also mounted on the top of the mounting frame. The top of the mounting frame has a rectangular cross-section, and the first, second, third, and fourth driving components are located at the four corners of the top of the mounting frame.

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