A reconfigurable parallel robot

Abstract

The present invention relates to the field of robotics, and in particular to a reconfigurable parallel robot, comprising a moving platform, a mounting platform, and a first connecting rod, wherein the first connecting rod is arranged between the mounting platform and the moving platform, one end of the first connecting rod and the mounting platform are slidably engaged along the same straight line direction, and the first connecting rod is multi-directionally connected to the mounting platform and the moving platform; a cantilever is hinged on both sides of the mounting platform through a rotating shaft; a second connecting rod is arranged between the cantilever and the moving platform, and the second connecting rod is multi-directionally connected to the cantilever and the moving platform; wherein two mutually parallel second connecting rods are arranged between each cantilever and the moving platform, and a parallelogram structure is formed between the cantilever, the second connecting rod and the moving platform. The parallel robot of the present invention controls the moving platform in parallel through multiple branches, and through the application of a linear actuator, the robot can have a large range of motion capability in the x direction, thereby expanding the rotation range of the moving platform and improving the rotation efficiency.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a reconfigurable parallel robot. Background Art

[0002] With the rapid development of my country's manufacturing industry, the market demand for robots has increased year by year.

[0003] Currently, most industrial robots in my country are serial robots and parallel robots. Serial robots have relatively simple structures and controls, but their rigidity, precision, and stability are generally low. Parallel robots, due to their high rigidity, stable structure, and high precision, are widely used in machining, handling, and other fields.

[0004] Existing three-dimensional translational parallel robot mechanisms, such as the Delta parallel robot, are high-speed parallel robot mechanisms that can achieve three degrees of freedom. The active arm and the driven arm of this mechanism are connected by a ball joint. Although the ball joint can achieve rotation in three orthogonal dimensions, it has disadvantages such as a small rotation range, which limits the movement range of the dynamic platform. In addition, the sliding model characteristics of the spherical joint bearing lead to low transmission efficiency. Summary of the Invention

[0005] The technical problem that the present invention aims to solve is that the existing parallel robot mechanism has a small rotation range and low transmission efficiency.

[0006] To this end, the present invention provides a reconfigurable parallel robot.

[0007] The technical solution adopted by the present invention to solve its technical problem is:

[0008] A reconfigurable parallel robot comprising:

[0009] Moving platform, mounting platform, and

[0010] At least two first connecting rods of the same length, the first connecting rods being arranged between the mounting platform and the movable platform, one end of the first connecting rod being slidably engaged with the mounting platform along the same straight line, and the first connecting rods being movably connected to the mounting platform and the movable platform in multiple directions;

[0011] A cantilever, the cantilever being hinged to both sides of the mounting platform via a rotation axis, wherein the axial direction of the rotation axis between the cantilever and the mounting platform is consistent with the direction of relative sliding between the first connecting rod and the mounting platform;

[0012] A second connecting rod, the second connecting rod is arranged between the cantilever and the movable platform, and the second connecting rod is movably connected to the cantilever and the movable platform in multiple directions;

[0013] Wherein, two second connecting rods parallel to each other are arranged between each of the cantilever and the movable platform, and a parallelogram structure is formed between the cantilever, the second connecting rod and the movable platform.

[0014] Furthermore, the first connecting rod is slidably connected to the mounting platform via a first driving device.

[0015] Furthermore, the first driving device includes a linear actuating device adapted to the number of the first connecting rod, and the linear actuating device includes a mounting frame, a guide rail, a screw rod, a slider and a driving source. The mounting frame is fixedly connected to the mounting platform, and the guide rail and the screw rod are connected to the mounting frame along the length direction of the mounting frame. The guide rail and the screw rod are arranged parallel to each other, the guide rail is fixedly connected to the mounting frame, the screw rod is rotatably connected to the mounting frame, the slider is threadedly connected to the screw rod, the driving source is used to drive the screw rod to rotate, and the first connecting rod and the slider are multi-directionally hinged.

[0016] Furthermore, the first connecting rod is connected to the slider and the bottom of the moving platform by ball joints.

[0017] Furthermore, the cantilevers are symmetrically arranged on both sides of the installation platform.

[0018] Furthermore, one end of the cantilever away from the mounting platform is fixedly connected to a lower connecting rod, the axial direction of the lower connecting rod is parallel to the axial direction of the rotating shaft, and one end of the two second connecting rods corresponding to each cantilever is respectively ball-hinged with the end of the lower connecting rod.

[0019] Furthermore, upper connecting rods are symmetrically arranged on both sides of the moving platform, and the two upper connecting rods are arranged parallel to each other. The other ends of the two second connecting rods corresponding to each cantilever are respectively ball-hinged with the end portions of the upper connecting rods.

[0020] Furthermore, a driving module is connected to the mounting platform, and the driving module is used to drive the rotating shaft to rotate.

[0021] Furthermore, the driving module includes a driving motor and a speed reducer.

[0022] The beneficial effects of the present invention are:

[0023] Different from existing parallel robots, reconfigurable parallel robots not only have the advantages of traditional parallel robots, but can also change the end output motion by controlling the drive motor to adapt to different work scenarios.

[0024] A reconfigurable parallel robot of the present invention has a moving platform controlled in parallel through multiple branches. The application of a linear actuator can enable the robot to have a large range of motion in the x-direction. By controlling the operation of the linear actuator, its displacement along the x-direction is completely determined by the linear actuator, which reduces the coupling degree, has the characteristics of weak coupling, expands the rotation range of the moving platform, and improves the rotation efficiency.

[0025] The robot's reconfigurable nature provides different possibilities for the equipment's application modes. By controlling the changes in the position relationship of the sliders in the linear actuator, the robot can be placed in a three-translation and one-rotation mode and a three-translation mode, respectively. This makes it suitable for assembly, sorting and other tasks in different environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be further described below with reference to the accompanying drawings and examples.

[0027] Figure 1 The figure is a schematic diagram of the overall structure of a reconfigurable parallel robot embodied in the present invention.

[0028] Figure 2 It is a structural schematic diagram of the first driving device and the moving platform in the present invention.

[0029] Figure 3 It is a structural schematic diagram of the first driving device in the present invention.

[0030] Figure 4 It is a structural diagram of the second driving device and the moving platform in the present invention.

[0031] Figure 5 The present invention is a schematic diagram of a three-degree-of-freedom motion state of a reconfigurable parallel robot realizing three translations.

[0032] Figure 6 The present invention is a schematic diagram of a reconfigurable parallel robot that realizes a four-degree-of-freedom motion state of three translations and one rotation.

[0033] In the figure: 1. Mounting platform; 2. Moving platform; 3. Drive module; 4. Cantilever; 40. Upper connecting rod; 41. Lower connecting rod; 5. Linear actuator; 50. Guide rail; 51. Screw rod; 52. Slider; 53. Mounting frame; 54. Coupling; 55. Motor; 6. Connector; 7. First connecting rod; 70. First connecting rod a; 71. First connecting rod b; 8. Second connecting rod; 80. Second connecting rod a; 81. Second connecting rod b. DETAILED DESCRIPTION

[0034] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner.

[0035] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply 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, features defined as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0036] 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, detachable, or integral connections; mechanical or electrical connections; direct 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 the specific circumstances.

[0037] Reference Figure 1-6 A reconfigurable parallel robot includes a mounting platform 1, a driving mechanism and a moving platform 2. The driving mechanism is connected to the mounting platform 1, and the moving platform 2 is connected to the driving mechanism through a first linkage component and a second linkage component.

[0038] It should be noted that the driving mechanism includes a first driving device and a second driving device. The first driving device includes two linear actuators 5 arranged in parallel. The arrangement direction of the two linear actuators 5 is the y direction. Each linear actuator 5 includes a mounting frame 53, a guide rail 50, a screw rod 51, a slider 52 and a driving source. The mounting frames 53 in the two linear actuators 5 are fixedly connected to the mounting platform 1, with the length direction of the mounting frame 53 as the x direction. The guide rail 50 and the screw rod 51 are connected to the mounting frame 53 along the x direction. The guide rail 50 and the screw rod 51 are arranged parallel to each other, wherein the guide rail 50 is fixedly connected to the mounting frame 53, the screw rod 51 is rotatably connected to the mounting frame 53, the slider 52 is threadedly connected to the screw rod 51, and the driving source is a motor 55. The motor 55 is fixedly connected to the mounting frame 53, and the motor 55 and the screw rod 51 are connected by a coupling 54. The motor 55 is used to drive the screw rod 51 to rotate.

[0039] The first linkage assembly includes two first links 7 . The two first links 7 (first link a70 and first link b71) are of the same length. A connector 6 is connected to the slider 52. The first link a70 is hingedly connected to the connector 6 on the slider 52 of one linear actuator 5, and the first link b71 is hingedly connected to the connector 6 on the slider 52 of the other linear actuator 5. The first links 7 and the connectors are hingedly connected using a ball joint. The end of the first link 7 closest to the slider 52 moves along the x-direction with the slider 52. The ends of the first links a70 and first link b71, away from the slider 52, are hingedly connected to the movable platform 2 using a ball joint. When the two sliders 52 are arranged in the y-direction, the first links a70 and first links b71 are parallel to each other.

[0040] The second driving device includes a driving module 3 arranged on both sides of the mounting platform 1, and the second linkage assembly includes two groups of connecting rod assemblies. The connecting rod assemblies are connected between the driving module 3 and the moving platform 2. Each connecting rod assembly includes a cantilever 4 and two second connecting rods 8 (second connecting rod a80 and second connecting rod b81). The cantilevers 4 in the two connecting rod assemblies are symmetrically arranged on both sides of the mounting platform 1, and the two cantilevers 4 are arranged along the y direction. The two sides of the moving platform 2 are fixedly connected with upper connecting rods 40, and an upper connecting rod 40 is arranged opposite to a connecting rod assembly.

[0041] Taking a connecting rod assembly as an example, one end of the cantilever 4 is rotatably connected to the mounting platform 1 through a rotating shaft. The axial direction of the rotating shaft is perpendicular to the axial direction of the cantilever 4. The axial direction of the rotating shaft is set along the x-direction. The cantilever 4 can rotate along the x-axis. The cantilever 4 is fixedly connected to the rotating shaft. The driving module 3 is connected to the rotating shaft. The driving module 3 is used to drive the rotating shaft to rotate, thereby driving the cantilever 4 to swing. The driving module 3 includes a driving motor and a reducer. One end of the cantilever 4 away from the mounting frame 53 is fixedly connected to the lower connecting rod 41, and the axial direction of the lower connecting rod 41 is set along the x direction. One end of the second connecting rod a80 is ball-jointed with one end of the lower connecting rod 41, and the other end is ball-jointed with one end of the upper connecting rod 40 opposite to the connecting rod assembly; one end of the second connecting rod b81 is ball-jointed with the other end of the lower connecting rod 41, and the other end is ball-jointed with the other end of the upper connecting rod 40 opposite to the connecting rod assembly. A closed parallelogram structure is formed between the upper connecting rod 40, the lower connecting rod 41, the second connecting rod a80 and the second connecting rod b81.

[0042] The implementation principles of this application are:

[0043] During the operation of the robot, there are two motion modes:

[0044] Three translation modes: Figure 5As shown, when the robot is running, the motors 55 in the two linear actuators 5 are driven simultaneously, so that the two sliders 52 move synchronously along the x-axis direction, and the arrangement direction between the two sliders 52 is always along the y-axis direction. At this time, the two first connecting rods 7 always remain parallel to each other, the driving module 3 is started, the cantilever 4 rotates, and the second connecting rod 8 and the upper connecting rod 40 and the lower connecting rod 41 rotate relative to each other, thereby controlling the movement of the dynamic platform 2 in three directions.

[0045] Three translation and one rotation mode: Figure 6 As shown, on the basis of the three translation modes, the motors 55 in the two linear actuators 5 are driven respectively to rotate the lead screw 51, so that the slider 52 moves along the length direction of the lead screw 51, and the sliders 52 in the two linear actuators 5 always remain in a non-overlapping state (that is, the line between the two sliders 52 forms an acute angle with the length direction of the lead screw 51). At this time, the two first connecting rods 7 drive the moving platform 2 to rotate along the x-axis direction, thereby realizing the movement of the moving platform 2 in three directions and the rotation along the z-axis direction.

[0046] In summary, in a reconfigurable parallel robot of the present invention, the moving platform is controlled in parallel through multiple branches. The application of the linear actuator can enable the robot to have a large range of motion capability in the x-direction. By controlling the operation of the linear actuator, its displacement along the x-direction is completely determined by the linear actuator, which reduces the coupling degree and has the characteristics of weak coupling.

[0047] By controlling the changes in the position relationship of the sliders in the linear actuator, the robot can be placed in a three-translation-one-rotation mode and a three-translation mode respectively, which can be applied to assembly, sorting and other tasks in different environments.

[0048] With the above-described preferred embodiments of the present invention as a guide, and with reference to the above description, relevant personnel are fully capable of making various changes and modifications without departing from the technical spirit of this invention. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A reconfigurable parallel robot, characterized in that: include, Moving platform (2), mounting platform (1), and At least two first connecting rods (7) of the same length, the first connecting rods (7) being arranged between the mounting platform (1) and the movable platform (2), one end of the first connecting rod (7) and the mounting platform (1) being slidably engaged along the same straight line direction, and the first connecting rod (7) and the mounting platform (1) and the movable platform (2) being movably connected in multiple directions; A cantilever (4), the cantilever (4) being hinged to both sides of the mounting platform (1) via a rotating shaft, the cantilever (4) being symmetrically arranged on both sides of the mounting platform (1), the axial direction of the rotating shaft between the cantilever (4) and the mounting platform (1) being consistent with the direction of relative sliding between the first connecting rod (7) and the mounting platform (1), the mounting platform (1) being connected to a driving module (3), the driving module (3) being used to drive the rotating shaft between the cantilever (4) and the mounting platform (1) to rotate; A second connecting rod (8), the second connecting rod (8) is arranged between the cantilever (4) and the movable platform (2), and the second connecting rod (8) is movably connected to the cantilever (4) and the movable platform (2) in multiple directions; Two mutually parallel second connecting rods (8) are provided between each cantilever (4) and the movable platform (2), and a parallelogram structure is formed between the cantilever (4), the second connecting rod (8) and the movable platform (2).

2. The reconfigurable parallel robot according to claim 1, characterized in that: The first connecting rod (7) is slidably connected to the mounting platform (1) via a first driving device.

3. The reconfigurable parallel robot according to claim 2, characterized in that: The first driving device comprises a linear actuator device (5) whose number matches that of the first connecting rod (7). The linear actuator device (5) comprises a mounting frame (53), a guide rail (50), a screw rod (51), a slider (52) and a driving source. The mounting frame (53) is fixedly connected to the mounting platform (1). The guide rail (50) and the screw rod (51) are both connected to the mounting frame (53) along the length direction of the mounting frame (53). The guide rail (50) and the screw rod (51) are arranged parallel to each other. The guide rail (50) is fixedly connected to the mounting frame (53). The screw rod (51) is rotatably connected to the mounting frame (53). The slider (52) is threadedly connected to the screw rod (51). The driving source is used to drive the screw rod (51) to rotate. The first connecting rod (7) and the slider (52) are multi-directionally hinged.

4. The reconfigurable parallel robot according to claim 3, characterized in that: The first connecting rod (7), the slider (52) and the bottom of the moving platform (2) are all connected by ball joints.

5. The reconfigurable parallel robot according to claim 1, characterized in that: One end of the cantilever (4) away from the mounting platform (1) is fixedly connected to a lower connecting rod (41), the axial direction of the lower connecting rod (41) is parallel to the axial direction of the rotation axis between the cantilever (4) and the mounting platform (1), and one end of the two second connecting rods (8) corresponding to each cantilever (4) is respectively ball-hinged with the end of the lower connecting rod (41).

6. The reconfigurable parallel robot according to claim 5, characterized in that: Upper connecting rods (40) are symmetrically arranged on both sides of the movable platform (2), and the two upper connecting rods (40) are arranged parallel to each other. The other ends of the two second connecting rods (8) corresponding to each cantilever (4) are respectively ball-hinged with the end portions of the upper connecting rods (40).

7. The reconfigurable parallel robot according to claim 1, characterized in that: The driving module (3) comprises a driving machine and a speed reducer.

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