Fully decoupled high-load three-degree-of-freedom planar robot

Abstract

The present invention discloses a fully decoupled, high-load-bearing, three-degree-of-freedom planar robot, comprising a frame assembly, a first motion unit, and a second motion unit. The first motion unit and the second motion unit are connected by screws, and the frame assembly is connected to the first motion unit and the second motion unit. This fully decoupled, high-load-bearing, three-degree-of-freedom planar robot has the advantages of large load-bearing capacity, flexible mechanical movement, and overall structural stability.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and in particular relates to a fully decoupled high-load-bearing three-degree-of-freedom planar robot. Background Art

[0002] With the development of parallel robots, parallel mechanisms, as the most active branch of robotics, have been gaining attention and favor in both academia and industry at home and abroad. High-precision parallel positioning mechanisms, with their advantages of high stiffness, high motion accuracy, and ease of control, have been increasingly studied.

[0003] The drive motor is located in the frame of the parallel mechanism. In traditional load-bearing mechanisms, since the motor is located on the boom, power must be transmitted to the working part of the boom through a transmission device (such as gears, drive shafts, etc.). This process results in energy loss and low transmission efficiency, reducing the operating efficiency of the equipment. Moreover, the motor of the equipment is usually large and heavy, which increases the overall weight and volume of the boom. The physical connection between the drive motor and the mechanical claw in traditional load-bearing mechanisms limits the load capacity of the mechanical claw. The weight and load capacity of the drive motor directly affect the load capacity of the mechanical claw. At the same time, in traditional load-bearing mechanisms, the transmission elements (such as gears, drive belts, etc.) between the drive motor and the mechanical claw introduce transmission errors and return clearance, thereby reducing control accuracy and stability. Placing the drive motor on the frame can reduce transmission elements, reduce transmission errors, and improve control accuracy and stability. Furthermore, the motor on the boom is exposed to the external environment and is easily affected by adverse weather and working conditions, increasing the failure rate of the motor. Moreover, since the motor is located at a high place, maintenance and repair of the motor on the crane arm requires high-altitude operations, which increases the risk of operation and the difficulty of maintenance, and brings certain difficulties to the transportation, installation and operation of the equipment. Summary of the Invention

[0004] The purpose of the present invention is to provide a fully decoupled high-load-bearing three-degree-of-freedom planar robot, which has the advantages of large load-bearing capacity, flexible movement and stable overall structure.

[0005] The technical solution adopted by the present invention is to provide a fully decoupled high-load three-degree-of-freedom planar robot, comprising a frame assembly, a first motion unit and a second motion unit; the first motion unit and the second motion unit are connected by a screw;

[0006] The frame components are connected to the first motion unit and the second motion unit.

[0007] The present invention is also characterized in that:

[0008] The frame assembly includes a base plate, on which a first frame is provided, and a first motor and a second motor are provided on the upper surface of the base plate on one side of the first frame; a plurality of slide grooves are opened on the upper surface of the base plate on the other side of the first frame; the frame assembly also includes a second frame, and a plurality of sliders are provided at the bottom of the second frame, and the sliders correspond to the slide grooves one by one and are used in conjunction with each other; a fixed block is also provided on the upper surface of the base plate between the first frame and the second frame; an electric push rod is provided on the base plate on one side of the second frame, and the electric push rod is fixed to the base plate through an L-shaped push rod seat connecting plate; the push rod end of the electric push rod is connected to the second frame through a push rod connecting plate; the first motion unit is respectively connected to the first frame, the fixed block, the first motor and the second motor; the second frame is connected to the second motion unit.

[0009] The first motion unit includes a first connecting rod assembly, a first branch chain, a second branch chain and a third branch chain;

[0010] The first connecting rod assembly includes a seventh connecting rod, and the seventh connecting rod is provided with a first supporting rod, a second supporting rod and a third supporting rod;

[0011] The first branch chain includes a first quadrilateral mechanism and a second quadrilateral mechanism; the first quadrilateral mechanism includes a fourth link, a revolving pair R16, a fifth link, a revolving pair R17 and a sixth link connected in sequence; the second quadrilateral mechanism includes a first link, a revolving pair R15, a second link, a revolving pair R18 and a third link connected in sequence; the fourth link is further connected to one end of the first link through a revolving pair R12, and the other end of the first link is fixedly connected to the motor shaft of the first motor passing through the first frame; the sixth link is further connected to one end of the third link through a revolving pair R13, and the other end of the third link is connected to the first frame through a revolving pair R14; the fifth link is also connected to the first branch rod, and the fifth link and the first branch rod are perpendicular to each other;

[0012] The fourth connecting rod is parallel to the sixth connecting rod, the first connecting rod is parallel to the third connecting rod, and the fifth connecting rod is parallel to the second connecting rod.

[0013] The second branch chain includes a third quadrilateral mechanism and a fourth quadrilateral mechanism; the third quadrilateral mechanism includes a ninth link, a revolute pair R26, an eighth link, a revolute pair R27, and a tenth link connected in sequence; the fourth quadrilateral mechanism includes a twelfth link, a revolute pair R25, an eleventh link, a revolute pair R28, and a thirteenth link connected in sequence; the ninth link is further connected to one end of the twelfth link via a revolute pair R22, and the other end of the twelfth link is fixedly connected to the motor shaft of the second motor passing through the first frame; the tenth link is further connected to one end of the thirteenth link via a revolute pair R23, and the other end of the thirteenth link is connected to the first frame via a revolute pair R24; the eighth link is further connected to the second branch rod, and the eighth link and the second branch rod are perpendicular to each other;

[0014] Among them, the ninth connecting rod is parallel to the tenth connecting rod, the twelfth connecting rod is parallel to the thirteenth connecting rod, and the eighth connecting rod is parallel to the eleventh connecting rod;

[0015] The third branch chain includes a rotating pair R33, a fifteenth connecting rod, a rotating pair R32, a fourteenth connecting rod and a rotating pair R31; the first side wall of the first end of the fifteenth connecting rod is connected to the third branch rod through the rotating pair R33, the second end of the fifteenth connecting rod is connected to the first end of the fourteenth connecting rod through the rotating pair R32, and the second end of the fourteenth connecting rod is connected to the fixed block through the rotating pair R31; it also includes a rotating pair R64 and a thirty-first connecting rod, the second side wall of the first end of the fifteenth connecting rod is also connected to the first side wall of the first end of the thirty-first connecting rod through the rotating pair R64, and the second side wall of the first end of the thirty-first connecting rod is connected to the second motion unit through a screw.

[0016] The second motion unit includes a second connecting rod assembly, a fourth branch chain, a fifth branch chain, and a sixth branch chain;

[0017] The second connecting rod assembly includes a twenty-second connecting rod, on which a fourth supporting rod, a fifth supporting rod and a sixth supporting rod are provided;

[0018] The fourth branch chain includes a fifth quadrilateral mechanism and a sixth quadrilateral mechanism; the fifth quadrilateral mechanism includes a nineteenth connecting rod, a revolving pair R46, a twentieth connecting rod, a revolving pair R47, and a twenty-first connecting rod connected in sequence; the sixth quadrilateral mechanism includes a sixteenth connecting rod, a revolving pair R45, a seventeenth connecting rod, a revolving pair R48, and an eighteenth connecting rod connected in sequence; the nineteenth connecting rod is further connected to one end of the sixteenth connecting rod via a revolving pair R42, and the other end of the sixteenth connecting rod is connected to the second frame via a revolving pair R41; the twenty-first connecting rod is further connected to one end of the eighteenth connecting rod via a revolving pair R43, and the other end of the eighteenth connecting rod is connected to the second frame via a revolving pair R44; the twentieth connecting rod is further connected to the fourth branch rod, and the twentieth connecting rod and the fourth branch rod are perpendicular to each other;

[0019] Among them, the nineteenth connecting rod is parallel to the twenty-first connecting rod, the sixteenth connecting rod is parallel to the eighteenth connecting rod, and the twentieth connecting rod is parallel to the seventeenth connecting rod;

[0020] The fifth branch chain includes a seventh quadrilateral mechanism and an eighth quadrilateral mechanism; the seventh quadrilateral mechanism includes a twenty-fourth connecting rod, a revolving pair R56, a twenty-third connecting rod, a revolving pair R57, and a twenty-fifth connecting rod connected in sequence; the sixth quadrilateral mechanism includes a twenty-seventh connecting rod, a revolving pair R55, a twenty-sixth connecting rod, a revolving pair R58, and a twenty-eighth connecting rod connected in sequence; the twenty-fourth connecting rod is further connected to one end of the twenty-seventh connecting rod via a revolving pair R52, and the other end of the twenty-seventh connecting rod is connected to the second frame via a revolving pair R51; the twenty-fifth connecting rod is further connected to one end of the twenty-eighth connecting rod via a revolving pair R53, and the other end of the twenty-eighth connecting rod is connected to the second frame via a revolving pair R54; the twenty-third connecting rod is further connected to the fifth branch rod, and the twenty-third connecting rod and the fifth branch rod are perpendicular to each other;

[0021] Among them, the twenty-fourth connecting rod is parallel to the twenty-fifth connecting rod, the twenty-seventh connecting rod is parallel to the twenty-eighth connecting rod, and the twenty-third connecting rod is parallel to the twenty-sixth connecting rod;

[0022] The sixth branch chain includes a 30th connecting rod, a rotating pair R62 and a 29th connecting rod connected in sequence; it also includes a nut and a rotating pair R63 that are sequentially sleeved from the inside to the outside, the nut is sleeved on the outer wall of the screw, one end of the sixth branch rod is connected to the first end of the 30th connecting rod through the rotating pair R63, the second end of the 30th connecting rod is connected to the first end of the 29th connecting rod through the rotating pair R62, and the second end of the 29th connecting rod is connected to the second frame through the rotating pair R61.

[0023] The cross sections of the slider and the chute are isosceles trapezoids.

[0024] The beneficial effects of the present invention are:

[0025] (1) The present invention completely decouples a high-load-bearing three-degree-of-freedom planar robot, which has the characteristics of high load-bearing capacity, flexibility, and high control accuracy. By placing the drive motor on the frame, the load on the mechanical claw itself can be reduced, the weight and volume can be reduced, and it can be made more compact and flexible. At the same time, by placing the drive motor on the frame, the load capacity of the mechanical claw can be significantly improved because the mechanical claw itself no longer needs to bear the weight of the drive motor. This solves the problem that the existing traditional load-bearing mechanism usually integrates the drive motor into the mechanical claw itself, resulting in an increase in the weight and volume of the mechanical claw, limiting the flexibility and adaptability of the mechanical claw, and making it difficult to operate in a small workspace. At the same time, it reduces the risk of operating the traditional load-bearing mechanism and the difficulty of maintenance.

[0026] (2) The present invention completely decouples a high-load-bearing three-degree-of-freedom planar robot, which has three degrees of freedom: two plane movements and one rotation. It controls one driving pair to realize one degree of freedom of the dynamic platform and is not affected by other branches. The main actuator of this mechanism adopts a screw pair, and the movement of the motion unit is converted into the rotation of the actuator, which reduces errors and improves stability.

[0027] (3) The fully decoupled, high-load-bearing, three-degree-of-freedom planar robot of the present invention is a mechanical structure for industrial robots and automation systems that can grasp, manipulate, and place objects. The mechanism consists of two motion units, each of which is composed of three parallel branches, for a total of six branches. The parallel connection of the branches increases the load-bearing capacity of the mechanism and increases the overall structural rigidity. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic structural diagram of a fully decoupled, high-load-bearing, three-degree-of-freedom planar robot according to the present invention;

[0029] Figure 2 This is a structural diagram of the connection relationship between the frame assembly, the first motion unit, and the second motion unit of the fully decoupled high-load three-degree-of-freedom planar robot of the present invention;

[0030] Figure 3 This is a schematic diagram of the partial structure of the third and sixth branches in the fully decoupled high-load three-degree-of-freedom planar robot of the present invention;

[0031] Figure 4 This is a schematic diagram of the structure of each branch chain of the first motion unit in the fully decoupled high-load three-degree-of-freedom planar robot of the present invention;

[0032] Figure 5 This is a schematic diagram of the structure of each branch chain of the second motion unit in the fully decoupled high-load-bearing three-degree-of-freedom planar robot of the present invention.

[0033] 1. First connecting rod, 2. Second connecting rod, 3. Third connecting rod, 4. Fourth connecting rod, 5. Fifth connecting rod, 6. Sixth connecting rod, 7. Seventh connecting rod, 8. Eighth connecting rod, 9. Ninth connecting rod, 10. Tenth connecting rod, 11. Eleventh connecting rod, 12. Twelfth connecting rod, 13. Thirteenth connecting rod, 14. Fourteenth connecting rod, 15. Fifteenth connecting rod, 16. Sixteenth connecting rod, 17. Seventeenth connecting rod, 18. Eighteenth connecting rod, 19. Nineteenth connecting rod, 20. Twentieth connecting rod, 21. Twenty-first connecting rod, 22. Twenty-second connecting rod, 2 3. 23rd connecting rod, 24. 24th connecting rod, 25. 25th connecting rod, 26. 26th connecting rod, 27. 27th connecting rod, 28. 28th connecting rod, 29. 29th connecting rod, 30. 30th connecting rod, 31. 31st connecting rod, 32. Nut, 33. Screw, 34. First motor, 35. Second motor, 36. Base plate, 37. First frame, 38. Slide, 39. Second frame, 40. Slider, 41. Fixed block, 42. Electric push rod, 43. Push rod seat connecting plate, 44. Push rod connecting plate;

[0034] 7-1. First pole, 7-2. Second pole, 7-3. Third pole;

[0035] 22-1. The fourth pole, 22-2. The fifth pole, 22-3. The sixth pole. DETAILED DESCRIPTION

[0036] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] The present invention provides a fully decoupled high-load three-degree-of-freedom planar robot, such as Figure 1-5 As shown, it includes a frame assembly, a first motion unit and a second motion unit; the first motion unit and the second motion unit are connected by a screw 33;

[0038] The frame components are connected to the first motion unit and the second motion unit.

[0039] The frame assembly includes a base plate 36, on which a first frame 37 is provided. The upper surface of the base plate 36 on one side of the first frame 37 is provided with a first motor 34 and a second motor 35; a plurality of slide grooves 38 are opened on the upper surface of the base plate 36 on the other side of the first frame 37; the frame assembly also includes a second frame 39, at the bottom of which a plurality of sliders 40 are provided, which correspond one to one with the slide grooves 38 and are used in conjunction with each other; a fixing block 41 is also provided on the upper surface of the base plate 36 between the first frame 37 and the second frame 39; an electric push rod 42 is provided on the base plate 36 on one side of the second frame 39, and the electric push rod 42 is fixed to the base plate 36 through an L-shaped push rod seat connecting plate 43; the push rod end of the electric push rod 42 is connected to the second frame 39 through a push rod connecting plate 44; the first motion unit is respectively connected to the first frame 37, the fixing block 41, the first motor 34 and the second motor 35; the second frame 39 is connected to the second motion unit.

[0040] The first motion unit includes a first connecting rod assembly, a first branch chain, a second branch chain and a third branch chain;

[0041] The first connecting rod assembly includes a seventh connecting rod 7, on which a first supporting rod 7-1, a second supporting rod 7-2 and a third supporting rod 7-3 are provided;

[0042] The first branch chain includes a first quadrilateral mechanism and a second quadrilateral mechanism; the first quadrilateral mechanism includes a fourth link 4, a rotation pair R16, a fifth link 5, a rotation pair R17 and a sixth link 6 connected in sequence; the second quadrilateral mechanism includes a first link 1, a rotation pair R15, a second link 2, a rotation pair R18 and a third link 3 connected in sequence; the fourth link 4 is further connected to one end of the first link 1 through a rotation pair R12, and the other end of the first link 1 is fixed to the motor shaft of the first motor 34 passing through the first frame 37; the sixth link 6 is further connected to one end of the third link 3 through a rotation pair R13, and the other end of the third link 3 is connected to the first frame 37 through a rotation pair R14; the fifth link 5 is also connected to the first support rod 7-1, and the fifth link 5 and the first support rod 7-1 are perpendicular to each other;

[0043] Among them, the fourth connecting rod 4 is parallel to the sixth connecting rod 6, the first connecting rod 1 is parallel to the third connecting rod 3, and the fifth connecting rod 5 is parallel to the second connecting rod 2;

[0044] The second branch chain includes a third quadrilateral mechanism and a fourth quadrilateral mechanism; the third quadrilateral mechanism includes a ninth link 9, a revolute pair R26, an eighth link 8, a revolute pair R27, and a tenth link 10 connected in sequence; the fourth quadrilateral mechanism includes a twelfth link 12, a revolute pair R25, an eleventh link 11, a revolute pair R28, and a thirteenth link 13 connected in sequence; the ninth link 9 is further connected to one end of the twelfth link 12 via a revolute pair R22, and the other end of the twelfth link 12 is fixedly connected to the motor shaft of the second motor 35 passing through the first frame 37; the tenth link 10 is further connected to one end of the thirteenth link 13 via a revolute pair R23, and the other end of the thirteenth link 13 is connected to the first frame 37 via a revolute pair R24; the eighth link 8 is further connected to the second support rod 7-2, and the eighth link 8 and the second support rod 7-2 are perpendicular to each other;

[0045] Among them, the ninth connecting rod 9 is parallel to the tenth connecting rod 10, the twelfth connecting rod 12 is parallel to the thirteenth connecting rod 13, and the eighth connecting rod 8 is parallel to the eleventh connecting rod 11;

[0046] The third branch chain includes a rotating pair R33, a fifteenth connecting rod 15, a rotating pair R32, a fourteenth connecting rod 14 and a rotating pair R31; the first side wall of the first end of the fifteenth connecting rod 15 is connected to the third branch rod 7-3 through the rotating pair R33, the second end of the fifteenth connecting rod 15 is connected to the first end of the fourteenth connecting rod 14 through the rotating pair R32, and the second end of the fourteenth connecting rod 14 is connected to the fixed block 41 through the rotating pair R31; it also includes a rotating pair R64 and a thirty-first connecting rod 31, the second side wall of the first end of the fifteenth connecting rod 15 is also connected to the first side wall of the first end of the thirty-first connecting rod 31 through the rotating pair R64, and the second side wall of the first end of the thirty-first connecting rod 31 is connected to the second motion unit through the screw 33.

[0047] The second motion unit includes a second connecting rod assembly, a fourth branch chain, a fifth branch chain, and a sixth branch chain;

[0048] The second connecting rod assembly includes a twenty-second connecting rod 22, on which a fourth support rod 22-1, a fifth support rod 22-2 and a sixth support rod 22-3 are provided;

[0049] The fourth branch chain includes a fifth quadrilateral mechanism and a sixth quadrilateral mechanism; the fifth quadrilateral mechanism includes a nineteenth link 19, a revolute pair R46, a twentieth link 20, a revolute pair R47, and a twenty-first link 21 connected in sequence; the sixth quadrilateral mechanism includes a sixteenth link 16, a revolute pair R45, a seventeenth link 17, a revolute pair R48, and an eighteenth link 18 connected in sequence; the nineteenth link 19 is further connected to one end of the sixteenth link 16 via a revolute pair R42, and the other end of the sixteenth link 16 is connected to the second frame 39 via a revolute pair R41; the twenty-first link 21 is further connected to one end of the eighteenth link 18 via a revolute pair R43, and the other end of the eighteenth link 18 is connected to the second frame 39 via a revolute pair R44; the twentieth link 20 is further connected to the fourth branch rod 22-1, and the twentieth link 20 and the fourth branch rod 22-1 are perpendicular to each other;

[0050] The nineteenth connecting rod 19 is parallel to the twenty-first connecting rod 21 , the sixteenth connecting rod 16 is parallel to the eighteenth connecting rod 18 , and the twentieth connecting rod 20 is parallel to the seventeenth connecting rod 17 ;

[0051] The fifth branch chain includes a seventh quadrilateral mechanism and an eighth quadrilateral mechanism; the seventh quadrilateral mechanism includes a twenty-fourth connecting rod 24, a revolving pair R56, a twenty-third connecting rod 23, a revolving pair R57, and a twenty-fifth connecting rod 25 connected in sequence; the sixth quadrilateral mechanism includes a twenty-seventh connecting rod 27, a revolving pair R55, a twenty-sixth connecting rod 26, a revolving pair R58, and a twenty-eighth connecting rod 28 connected in sequence; the twenty-fourth connecting rod 24 is further connected to one end of the twenty-seventh connecting rod 27 via a revolving pair R52, and the other end of the twenty-seventh connecting rod 27 is connected to the second frame 39 via a revolving pair R51; the twenty-fifth connecting rod 25 is further connected to one end of the twenty-eighth connecting rod 28 via a revolving pair R53, and the other end of the twenty-eighth connecting rod 28 is connected to the second frame 39 via a revolving pair R54; the twenty-third connecting rod 23 is further connected to the fifth branch rod 22-2, and the twenty-third connecting rod 23 and the fifth branch rod 22-2 are perpendicular to each other;

[0052] The twenty-fourth connecting rod 24 is parallel to the twenty-fifth connecting rod 25 , the twenty-seventh connecting rod 27 is parallel to the twenty-eighth connecting rod 28 , and the twenty-third connecting rod 23 is parallel to the twenty-sixth connecting rod 26 .

[0053] The sixth branch chain includes a 30th connecting rod 30, a rotating pair R62 and a 29th connecting rod 29 connected in sequence; it also includes a nut 32 and a rotating pair R63 that are sequentially sleeved from the inside to the outside, the nut 32 is sleeved on the outer wall of the screw rod 33, one end of the sixth branch rod 22-3 is connected to the first end of the 30th connecting rod 30 through the rotating pair R63, the second end of the 30th connecting rod 30 is connected to the first end of the 29th connecting rod 29 through the rotating pair R62, and the second end of the 29th connecting rod 29 is connected to the second frame 39 through the rotating pair R61.

[0054] The cross section of the chute 38 is an isosceles trapezoid.

[0055] The cross section of the slider 40 is an isosceles trapezoid.

[0056] The screw rod 33 and nut 32 form a helical pair, connecting the two moving units and serving as the primary load-bearing component of the load-bearing mechanism. Through the interaction of the slider 40 and the slot 38, the electric push rod 42 drives the second moving unit to perform linear reciprocating motion relative to the first. When the second moving unit reciprocates relative to the first, the screw rod 33 in the helical pair rotates in both forward and reverse directions, driving the actuator connected to the screw rod 33 to rotate.

[0057] The second motion unit, driven by an electric push rod 42, reciprocates relative to the first motion unit, forming a moving pair. The first and twelfth connecting rods 1 and 12 of the first motion unit are driven by two stepper motors, forming a revolute pair and a revolute pair. The fifth connecting rod 5 is fixedly connected to the first support rod 7-1, and the motor shaft of the first motor 34 serves as a revolute pair. Driven by the first motor 34, the first connecting rod 1 rotates along the motor shaft.

[0058] The eighth connecting rod 8 is fixedly connected to the second supporting rod 7 - 2 , and the motor shaft of the second motor 35 serves as a rotating pair. When driven by the stepping motor, the twelfth connecting rod 12 rotates under the drive of the motor shaft.

[0059] Finally, the two motion units are connected through a slide and a screw pair to form a hybrid mechanism.

[0060] The first motion unit is connected to a first motor 34 and a second motor 35 fixed to a first frame 34. Placing the drive motor on the frame reduces the load on the gripper itself, reducing its weight and size, making it more compact and flexible. This overcomes the drawbacks of existing load-bearing mechanisms, which typically integrate the drive motor within the gripper itself. This increases the gripper's weight and size, limits its flexibility and adaptability, and makes it difficult to operate in confined workspaces. Furthermore, placing the drive motor on the frame reduces the number of transmission components, minimizes transmission errors, and improves control accuracy and stability.

[0061] The second motion unit is connected to the second frame 39 via revolute pairs R41, R44, R51, R54, and R61. The first and second motion units are connected via a screw pair consisting of a nut 32 and a screw 33. An electric push rod 42 propels the second frame 39 back and forth. This linear motion is converted into rotational motion by the screw pair, causing screw 33 to rotate, driving actuator 31. The fully decoupled, high-load-bearing, three-degree-of-freedom planar robot of this invention utilizes a screw pair as its primary actuator, converting motion of the motion unit into rotation of the actuator, thereby reducing errors and improving stability.

[0062] like Figure 4 As shown, the first link 1 and the twelfth link 12 of the first motion unit can rotate under the drive of the motor shaft. When the second motor 35 is locked, the twelfth link 12 will be fixed, and the position and internal angles of the fourth quadrilateral mechanism composed of the twelfth link 12, the eleventh link 11, and the thirteenth link 13 will remain fixed. The internal angles of the first quadrilateral mechanism composed of the fourth link 4, the fifth link 5, and the sixth link 6 will not change, and the position changes with the rotation of the first link 1. Similarly, when the first motor 34 is locked, the first link 1 will be fixed, and the internal angles and position of the second quadrilateral mechanism composed of the first link 1, the second link 2, and the third link 3 will be fixed. The internal angles of the third quadrilateral mechanism composed of the ninth link, the eighth link, and the tenth link will not change, and the position moves with the twelfth link. The present invention completely decouples a high-load-bearing three-degree-of-freedom planar robot. The mechanism consists of two motion units, each of which consists of three branches connected in parallel, with a total of six branches. The parallel connection of the branches improves the load-bearing capacity of the mechanism, and at the same time has three degrees of freedom: two movements and one rotation in the plane. Controlling one driving pair corresponds to realizing one degree of freedom of the dynamic platform, and is not affected by other branches.

[0063] Example 1

[0064] Fully decoupled high-load three-degree-of-freedom planar robot, such as Figure 1-5 As shown, it includes a frame assembly, a first motion unit and a second motion unit; the first motion unit and the second motion unit are connected by a screw 33;

[0065] The frame components are connected to the first motion unit and the second motion unit.

[0066] Example 2

[0067] Fully decoupled high-load three-degree-of-freedom planar robot, such as Figure 1-5 As shown, it includes a frame assembly, a first motion unit and a second motion unit; the first motion unit and the second motion unit are connected by a screw 33;

[0068] The frame components are connected to the first motion unit and the second motion unit.

[0069] The frame assembly includes a base plate 36, on which a first frame 37 is provided. The upper surface of the base plate 36 on one side of the first frame 37 is provided with a first motor 34 and a second motor 35; a plurality of slide grooves 38 are opened on the upper surface of the base plate 36 on the other side of the first frame 37; the frame assembly also includes a second frame 39, at the bottom of which a plurality of sliders 40 are provided, which correspond one to one with the slide grooves 38 and are used in conjunction with each other; a fixing block 41 is also provided on the upper surface of the base plate 36 between the first frame 37 and the second frame 39; an electric push rod 42 is provided on the base plate 36 on one side of the second frame 39, and the electric push rod 42 is fixed to the base plate 36 through an L-shaped push rod seat connecting plate 43; the push rod end of the electric push rod 42 is connected to the second frame 39 through a push rod connecting plate 44; the first motion unit is respectively connected to the first frame 37, the fixing block 41, the first motor 34 and the second motor 35; the second frame 39 is connected to the second motion unit.

[0070] Example 3

[0071] Fully decoupled high-load three-degree-of-freedom planar robot, such as Figure 1-5 As shown, it includes a frame assembly, a first motion unit and a second motion unit; the first motion unit and the second motion unit are connected by a screw 33;

[0072] The frame components are connected to the first motion unit and the second motion unit.

[0073] The frame assembly includes a base plate 36, on which a first frame 37 is provided. The upper surface of the base plate 36 on one side of the first frame 37 is provided with a first motor 34 and a second motor 35; a plurality of slide grooves 38 are opened on the upper surface of the base plate 36 on the other side of the first frame 37; the frame assembly also includes a second frame 39, at the bottom of which a plurality of sliders 40 are provided, which correspond one to one with the slide grooves 38 and are used in conjunction with each other; a fixing block 41 is also provided on the upper surface of the base plate 36 between the first frame 37 and the second frame 39; an electric push rod 42 is provided on the base plate 36 on one side of the second frame 39, and the electric push rod 42 is fixed to the base plate 36 through an L-shaped push rod seat connecting plate 43; the push rod end of the electric push rod 42 is connected to the second frame 39 through a push rod connecting plate 44; the first motion unit is respectively connected to the first frame 37, the fixing block 41, the first motor 34 and the second motor 35; the second frame 39 is connected to the second motion unit.

[0074] The first motion unit includes a first connecting rod assembly, a first branch chain, a second branch chain and a third branch chain;

[0075] The first connecting rod assembly includes a seventh connecting rod 7, on which a first supporting rod 7-1, a second supporting rod 7-2 and a third supporting rod 7-3 are provided;

[0076] The first branch chain includes a first quadrilateral mechanism and a second quadrilateral mechanism; the first quadrilateral mechanism includes a fourth link 4, a rotation pair R16, a fifth link 5, a rotation pair R17 and a sixth link 6 connected in sequence; the second quadrilateral mechanism includes a first link 1, a rotation pair R15, a second link 2, a rotation pair R18 and a third link 3 connected in sequence; the fourth link 4 is further connected to one end of the first link 1 through a rotation pair R12, and the other end of the first link 1 is fixed to the motor shaft of the first motor 34 passing through the first frame 37; the sixth link 6 is further connected to one end of the third link 3 through a rotation pair R13, and the other end of the third link 3 is connected to the first frame 37 through a rotation pair R14; the fifth link 5 is also connected to the first support rod 7-1, and the fifth link 5 and the first support rod 7-1 are perpendicular to each other;

[0077] Among them, the fourth connecting rod 4 is parallel to the sixth connecting rod 6, the first connecting rod 1 is parallel to the third connecting rod 3, and the fifth connecting rod 5 is parallel to the second connecting rod 2;

[0078] The second branch chain includes a third quadrilateral mechanism and a fourth quadrilateral mechanism; the third quadrilateral mechanism includes a ninth link 9, a revolute pair R26, an eighth link 8, a revolute pair R27, and a tenth link 10 connected in sequence; the fourth quadrilateral mechanism includes a twelfth link 12, a revolute pair R25, an eleventh link 11, a revolute pair R28, and a thirteenth link 13 connected in sequence; the ninth link 9 is further connected to one end of the twelfth link 12 via a revolute pair R22, and the other end of the twelfth link 12 is fixedly connected to the motor shaft of the second motor 35 passing through the first frame 37; the tenth link 10 is further connected to one end of the thirteenth link 13 via a revolute pair R23, and the other end of the thirteenth link 13 is connected to the first frame 37 via a revolute pair R24; the eighth link 8 is further connected to the second support rod 7-2, and the eighth link 8 and the second support rod 7-2 are perpendicular to each other;

[0079] Among them, the ninth connecting rod 9 is parallel to the tenth connecting rod 10, the twelfth connecting rod 12 is parallel to the thirteenth connecting rod 13, and the eighth connecting rod 8 is parallel to the eleventh connecting rod 11;

[0080] The third branch chain includes a rotating pair R33, a fifteenth connecting rod 15, a rotating pair R32, a fourteenth connecting rod 14 and a rotating pair R31; the first side wall of the first end of the fifteenth connecting rod 15 is connected to the third branch rod 7-3 through the rotating pair R33, the second end of the fifteenth connecting rod 15 is connected to the first end of the fourteenth connecting rod 14 through the rotating pair R32, and the second end of the fourteenth connecting rod 14 is connected to the fixed block 41 through the rotating pair R31; it also includes a rotating pair R64 and a thirty-first connecting rod 31, the second side wall of the first end of the fifteenth connecting rod 15 is also connected to the first side wall of the first end of the thirty-first connecting rod 31 through the rotating pair R64, and the second side wall of the first end of the thirty-first connecting rod 31 is connected to the second motion unit through the screw 33.

Claims

1. Fully decoupled high-load three-degree-of-freedom planar robot, characterized by: It comprises a frame assembly, a first motion unit and a second motion unit; the first motion unit and the second motion unit are connected via a screw (33); The frame components are connected to the first motion unit and the second motion unit; The frame assembly includes a base plate (36), a first frame (37) is provided on the base plate (36), a first motor (34) and a second motor (35) are provided on the upper surface of the base plate (36) on one side of the first frame (37); a plurality of slide grooves (38) are provided on the upper surface of the base plate (36) on the other side of the first frame (37); the frame assembly also includes a second frame (39), a plurality of sliders (40) are provided at the bottom of the second frame (39), and the sliders (40) correspond to the slide grooves (38) one by one and are used in conjunction with each other; the first frame (37) and the second frame (39) are connected to each other. ) is further provided with a fixing block (41) on the upper surface of the base plate (36) between the first and second frames (39); an electric push rod (42) is provided on the base plate (36) on one side of the second frame (39), and the electric push rod (42) is fixedly connected to the base plate (36) via an L-shaped push rod seat connecting plate (43); the push rod end of the electric push rod (42) is connected to the second frame (39) via a push rod connecting plate (44); the first motion unit is respectively connected to the first frame (37), the fixing block (41), the first motor (34) and the second motor (35); the second frame (39) is connected to the second motion unit; The first motion unit includes a first connecting rod assembly, a first branch chain, a second branch chain and a third branch chain; The first connecting rod assembly comprises a seventh connecting rod (7), and the seventh connecting rod (7) is provided with a first support rod (7-1), a second support rod (7-2) and a third support rod (7-3); The first branch chain includes a first quadrilateral mechanism and a second quadrilateral mechanism; the first quadrilateral mechanism includes a fourth link (4), a rotation pair R16, a fifth link (5), a rotation pair R17 and a sixth link (6) connected in sequence; the second quadrilateral mechanism includes a first link (1), a rotation pair R15, a second link (2), a rotation pair R18 and a third link (3) connected in sequence; the fourth link (4) is also connected to one end of the first link (1) through the rotation pair R12, and the other end of the first link (1) is fixed to the motor shaft of the first motor (34) passing through the first frame (37); the sixth link (6) is also connected to one end of the third link (3) through the rotation pair R13, and the other end of the third link (3) is connected to the first frame (37) through the rotation pair R14; the fifth link (5) is also connected to the first support rod (7-1), and the fifth link (5) and the first support rod (7-1) are perpendicular to each other; Wherein, the fourth connecting rod (4) is parallel to the sixth connecting rod (6), the first connecting rod (1) is parallel to the third connecting rod (3), and the fifth connecting rod (5) is parallel to the second connecting rod (2); The second branch chain includes a third quadrilateral mechanism and a fourth quadrilateral mechanism; the third quadrilateral mechanism includes a ninth link (9), a rotation pair R26, an eighth link (8), a rotation pair R27 and a tenth link (10) connected in sequence; the fourth quadrilateral mechanism includes a twelfth link (12), a rotation pair R25, an eleventh link (11), a rotation pair R28 and a thirteenth link (13) connected in sequence; the ninth link (9) is also connected to the twelfth link through the rotation pair R22. One end of the connecting rod (12) is connected, and the other end of the twelfth connecting rod (12) is fixedly connected to the motor shaft of the second motor (35) passing through the first frame (37); the tenth connecting rod (10) is also connected to one end of the thirteenth connecting rod (13) through the rotating pair R23, and the other end of the thirteenth connecting rod (13) is connected to the first frame (37) through the rotating pair R24; the eighth connecting rod (8) is also connected to the second support rod (7-2), and the eighth connecting rod (8) and the second support rod (7-2) are perpendicular to each other; Among them, the ninth connecting rod (9) is parallel to the tenth connecting rod (10), the twelfth connecting rod (12) is parallel to the thirteenth connecting rod (13), and the eighth connecting rod (8) is parallel to the eleventh connecting rod (11); The third branch chain includes a rotating pair R33, a fifteenth connecting rod (15), a rotating pair R32, a fourteenth connecting rod (14) and a rotating pair R31; the first side wall of the first end of the fifteenth connecting rod (15) is connected to the third branch rod (7-3) through the rotating pair R33, the second end of the fifteenth connecting rod (15) is connected to the first end of the fourteenth connecting rod (14) through the rotating pair R32, and the second end of the fourteenth connecting rod (14) is connected to the fixed block (41) through the rotating pair R31; and also includes a rotating pair R64 and a thirty-first connecting rod (31), the second side wall of the first end of the fifteenth connecting rod (15) is also connected to the first side wall of the first end of the thirty-first connecting rod (31) through the rotating pair R64, and the second side wall of the first end of the thirty-first connecting rod (31) is connected to the second motion unit through the screw (33).

2. The fully decoupled high-load three-degree-of-freedom planar robot according to claim 1, characterized in that: The second motion unit includes a second connecting rod assembly, a fourth branch chain, a fifth branch chain and a sixth branch chain; The second connecting rod assembly comprises a twenty-second connecting rod (22), and the twenty-second connecting rod (22) is provided with a fourth support rod (22-1), a fifth support rod (22-2) and a sixth support rod (22-3); The fourth branch chain includes a fifth quadrilateral mechanism and a sixth quadrilateral mechanism; the fifth quadrilateral mechanism includes a nineteenth connecting rod (19), a rotation pair R46, a twentieth connecting rod (20), a rotation pair R47 and a twenty-first connecting rod (21) connected in sequence; the sixth quadrilateral mechanism includes a sixteenth connecting rod (16), a rotation pair R45, a seventeenth connecting rod (17), a rotation pair R48 and an eighteenth connecting rod (18) connected in sequence; the nineteenth connecting rod (19) is further connected through the rotation pair R42 The 21st connecting rod (21) is connected to one end of the 16th connecting rod (16), and the other end of the 16th connecting rod (16) is connected to the second frame (39) through the rotation pair R41; the 21st connecting rod (21) is also connected to one end of the 18th connecting rod (18) through the rotation pair R43, and the other end of the 18th connecting rod (18) is connected to the second frame (39) through the rotation pair R44; the 20th connecting rod (20) is also connected to the fourth support rod (22-1), and the 20th connecting rod (20) and the fourth support rod (22-1) are perpendicular to each other; The nineteenth connecting rod (19) is parallel to the twenty-first connecting rod (21), the sixteenth connecting rod (16) is parallel to the eighteenth connecting rod (18), and the twentieth connecting rod (20) is parallel to the seventeenth connecting rod (17); The fifth branch chain includes a seventh quadrilateral mechanism and an eighth quadrilateral mechanism; the seventh quadrilateral mechanism includes a twenty-fourth connecting rod (24), a rotation pair R56, a twenty-third connecting rod (23), a rotation pair R57 and a twenty-fifth connecting rod (25) connected in sequence; the sixth quadrilateral mechanism includes a twenty-seventh connecting rod (27), a rotation pair R55, a twenty-sixth connecting rod (26), a rotation pair R58 and a twenty-eighth connecting rod (28) connected in sequence; the twenty-fourth connecting rod (24) is also connected through the rotation pair R52 The 27th connecting rod (27) is connected to one end of the 27th connecting rod (27), and the other end of the 27th connecting rod (27) is connected to the second frame (39) through the rotation pair R51; the 25th connecting rod (25) is also connected to one end of the 28th connecting rod (28) through the rotation pair R53, and the other end of the 28th connecting rod (28) is connected to the second frame (39) through the rotation pair R54; the 23rd connecting rod (23) is also connected to the fifth support rod (22-2), and the 23rd connecting rod (23) and the fifth support rod (22-2) are perpendicular to each other; wherein the twenty-fourth connecting rod (24) is parallel to the twenty-fifth connecting rod (25), the twenty-seventh connecting rod (27) is parallel to the twenty-eighth connecting rod (28), and the twenty-third connecting rod (23) is parallel to the twenty-sixth connecting rod (26); The sixth branch chain includes a 30th connecting rod (30), a rotating pair R62 and a 29th connecting rod (29) connected in sequence; and also includes a nut (32) and a rotating pair R63 which are sleeved in sequence from the inside to the outside, the nut (32) being sleeved on the outer wall of the screw rod (33), one end of the sixth branch rod (22-3) being connected to the first end of the 30th connecting rod (30) through the rotating pair R63, the second end of the 30th connecting rod (30) being connected to the first end of the 29th connecting rod (29) through the rotating pair R62, and the second end of the 29th connecting rod (29) being connected to the second frame (39) through the rotating pair R61.

3. The fully decoupled high-load three-degree-of-freedom planar robot according to claim 1, characterized in that: The cross-sections of the slider (40) and the slide groove (38) are isosceles trapezoids.

Images