A multi-link cross-parallel loading robot

Abstract

The present invention relates to a loading robot, and in particular to a multi-link cross-parallel loading robot. It comprises a first sliding part, a second sliding part and a third sliding part which are respectively installed on a first linear guide device, a second linear guide device and a third linear guide device, the first motion link mechanism and the second motion link mechanism are parallelogram mechanisms, the third motion link mechanism is a single link mechanism, the front end of which is connected in parallel with the motion execution end through a rotating motion pair, the rear end is respectively connected with the sliding part through a rotating motion pair, and the third motion link mechanism runs through the second motion link mechanism; the positions of the first sliding part, the second sliding part and the third sliding part on the first linear guide device, the second linear guide device and the third linear guide device are adjusted, and the position of the motion execution end is adjusted. The parallel loading robot link structure of the present invention is conducive to reducing the overall weight of the robot; the core structure adopts a parallel mechanism, which is conducive to improving the rigidity and movement flexibility of the robot.

Description

Technical Field

[0001] The invention relates to a loading robot, in particular to a loading robot with multiple connecting rods cross-connected in parallel. Background Art

[0002] Loading robots are indispensable automated intelligent equipment in modern manufacturing, and are widely used in heavy-load handling, sorting, and palletizing in industries such as construction, petrochemicals, and food. Due to the special application occasions of loading robots, they are required to have high flexibility, large working space, and strong environmental adaptability. In particular, with the urgent need for automated and efficient loading of cement, grain, and chemical raw materials, higher requirements are placed on the load capacity and dynamic characteristics of loading robots.

[0003] The handling robots disclosed in patents CN113733055A, CN113733055A, CN108284428A, CN116922362A, EP3138670A1, and EP3272470B1 all adopt a serial structure. The robots have heavy weight, low rigidity and dynamic characteristics, and are difficult to meet the high speed and high efficiency requirements in heavy-load handling occasions.

[0004] The handling robots disclosed in patents CN212608257U, CN110815183A, CN110815184A, CN106826765A, and CN106584426A adopt a parallel structure, but the driving part adopts a rotary drive joint. Due to the limitations on the angle of the rotary drive joint and the length of the connecting rod, the robot has a small working space and low load capacity, and cannot meet a wide range of heavy-load loading application requirements. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a multi-link cross-parallel loading robot with large load-bearing capacity, large movement space and high load-to-weight ratio.

[0006] The technical solution adopted by the present invention is:

[0007] The multi-link cross-parallel loading robot of the present invention comprises an outer frame and a first linear guide device, a second linear guide device and a third linear guide device installed on the outer frame, as well as a first sliding part, a second sliding part, a third sliding part, a first motion link mechanism, a second motion link mechanism, a third motion link mechanism and a motion execution end, characterized in that a loading channel runs through the middle of the outer frame, and linear guide rails are arranged on the first linear guide device, the second linear guide device and the third linear guide device;

[0008] The first linear guide device is installed on the upper side of the loading channel of the outer frame, and the second linear guide device and the third linear guide device are installed on the left and right sides of the loading channel of the outer frame respectively;

[0009] The first sliding part, the second sliding part and the third sliding part are respectively installed on the linear guide rails of the first linear guide device, the second linear guide device and the third linear guide device, and the first sliding part, the second sliding part and the third sliding part are respectively provided with a linear drive mechanism;

[0010] The linear drive mechanism drives the first sliding part, the second sliding part and the third sliding part to move linearly along the linear guide rails of the first linear guide device, the second linear guide device and the third linear guide device respectively;

[0011] The front end link of the first motion link mechanism is connected to the motion execution end through a rotary motion pair a installed on the motion execution end, and the rear end link is connected to the first sliding part through a rotary motion pair d installed on the first sliding part;

[0012] The front end link of the second motion link mechanism is connected to the motion execution end through a rotary motion pair c installed on the motion execution end, and the rear end link is connected to the second sliding part through a rotary motion pair e installed on the second sliding part;

[0013] The front end T-bar of the third motion link mechanism is connected to the motion execution end through a rotary motion pair b installed on the motion execution end, and the rear end T-bar is connected to the third sliding part through a rotary motion pair f installed on the third sliding part; the second motion link mechanism is a parallelogram mechanism, and the third motion link mechanism is a single-link mechanism, and the third motion link mechanism runs through the middle of the parallelogram mechanism of the second motion link mechanism, with the front end connected to the motion execution end and the rear end connected to the third sliding part;

[0014] The first motion link mechanism and the second motion link mechanism have the same structure, including a rear-end link, a front-end link, an upper link a, a lower link b, a rotary motion pair g, a rotary motion pair h, a rotary motion pair i and a rotary motion pair j, the upper end of the rear-end link is connected to the rear end of the long link a through the rotary motion pair g, the lower end of the rear-end link is connected to the rear end of the long link b through the rotary motion pair j, the upper end of the front-end link is connected to the front end of the long link a through the rotary motion pair h, and the lower end of the front-end link is connected to the front end of the long link b through the rotary motion pair i;

[0015] The third motion link mechanism comprises a front T-shaped rod, a rotary motion pair k, a long connecting rod, a rotary motion pair m, and a rear T-shaped rod, wherein the front T-shaped rod is connected to the front end of the long connecting rod through the rotary motion pair k, and the rear T-shaped rod is connected to the rear end of the long connecting rod through the rotary motion pair m;

[0016] The front end T-bar of the third motion link mechanism is connected to the motion execution end through a rotary motion pair b installed on the motion execution end, and the rear end T-bar is connected to the third sliding part through a rotary motion pair f installed on the third sliding part.

[0017] According to the multi-link cross-parallel loading robot, the first motion link mechanism, the second motion link mechanism, and the third motion link mechanism are connected in parallel with the motion execution end, and the position of the motion execution end is adjusted by adjusting the positions of the first sliding part, the second sliding part, and the third sliding part on the first linear guide device, the second linear guide device, and the third linear guide device.

[0018] According to the multi-link cross-parallel loading robot, the guide axes of the linear guide rails of the first linear guide device, the second linear guide device and the third linear guide device are parallel to each other.

[0019] According to the multi-link cross-parallel loading robot, the second motion link mechanism is a parallelogram mechanism, the third motion link mechanism is a single link mechanism, the third motion link mechanism runs through the second motion link mechanism, the front end is connected to the motion execution end, and the rear end is connected to the third sliding part;

[0020] According to the multi-link cross-parallel loading robot, the bottom surface of the motion execution end is kept parallel to the upper side surface of the outer frame by the parallelogram mechanism of the first motion link mechanism, and the left and right sides of the motion execution end are kept parallel to the left and right sides of the outer frame by the parallelogram mechanism of the second motion link mechanism.

[0021] According to the described multi-link cross-parallel loading robot, the first motion link mechanism and the second motion link mechanism have the same structure, including: a rear end link, a front end link, an upper link a, a lower link b, a rotary motion pair g, a rotary motion pair h, a rotary motion pair i and a rotary motion pair j, the upper end of the rear end link is connected to the rear end of the long link a through the rotary motion pair g, the lower end of the rear end link is connected to the rear end of the long link b through the rotary motion pair j, the upper end of the front end link is connected to the front end of the long link a through the rotary motion pair h, and the lower end of the front end link is connected to the front end of the long link b through the rotary motion pair i;

[0022] The rear connecting rod, the upper connecting rod a, the lower connecting rod b and the front connecting rod form a parallelogram mechanism, and the rear connecting rod and the front connecting rod are always kept parallel to each other, and the upper connecting rod a and the lower connecting rod b are always kept parallel to each other.

[0023] According to the multi-link cross-parallel loading robot, the third motion link mechanism includes: a front T-bar, a rotary motion pair k, a long connecting rod, a rotary motion pair m, and a rear T-bar, wherein the front T-bar is connected to the front end of the long connecting rod through the rotary motion pair k, and the rear T-bar is connected to the rear end of the long connecting rod through the rotary motion pair m;

[0024] According to the multi-link cross-parallel loading robot, the first sliding part and the second sliding part have the same structure, including: a fixed seat a, a servo motor a, the servo motor a is installed on the fixed seat a, and the servo motor a drives the fixed seat a to move linearly along the guide device;

[0025] According to the multi-link cross-parallel loading robot, the third sliding part includes: a fixed seat b, a servo motor b, the servo motor b is installed on the fixed seat b, and the servo motor b drives the fixed seat b to move linearly along the guide device;

[0026] According to the multi-link cross-parallel loading robot, the servo motors a of the first sliding part and the second sliding part, and the servo motor b of the third sliding part are replaced with hydraulic or pneumatic drive structures.

[0027] The operating method of the multi-link cross-parallel loading robot of the present invention is as follows:

[0028] At the same time, the outer frame interface perpendicular to the guiding direction of the first linear guide device, the second linear guide device and the third linear guide device is a reference plane.

[0029] The operation steps include the following:

[0030] The motion execution end moves back and forth relative to the reference surface, and the first sliding part, the second sliding part and the third sliding part move in the same direction and at the same speed along the corresponding guide device, and the motion execution end is driven to move linearly through the first motion link mechanism, the second motion link mechanism and the third motion link mechanism, that is, to move back and forth in the outer frame;

[0031] The motion execution end moves left and right along the above reference plane.

[0032] The first sliding part does not move relative to the reference plane, the second sliding part moves forward along the second linear guide device, and the upper link a and the lower link b of the second motion link mechanism respectively swing backward around the rotary motion pair g and the rotary motion pair j to make a radius; the third sliding part moves backward along the third linear guide device or the movement speed of the third sliding part along the third linear guide device is lower than the movement speed of the second sliding part along the second linear guide device, and the third motion link mechanism swings forward around the rotary motion pair f to make a radius, and at this time, the motion execution end moves to the left side of the reference plane;

[0033] The third sliding part moves forward along the third linear guide device, the third motion link mechanism swings backward around the rotary motion pair f, the second sliding part moves backward along the second linear guide device or the movement speed of the second sliding part along the second linear guide device is lower than the movement speed of the third sliding part along the third linear guide device, and the upper link a and the lower link b of the second motion link mechanism swing forward around the rotary motion pair g and the rotary motion pair j respectively; at this time, the motion execution end moves to the right side of the reference plane;

[0034] The motion execution end moves up and down along the reference plane.

[0035] The first sliding part moves forward along the first linear guide device, and the upper link a and the lower link b of the first motion link mechanism swing backward around the rotary motion pair g and the rotary motion pair j respectively;

[0036] The second sliding part and the third sliding part are stationary relative to the plane or the movement speed is lower than the movement speed of the first sliding part along the first linear guide device, the upper connecting rod a and the lower connecting rod b of the second sliding part swing downward around the rotary motion pair g and the rotary motion pair j respectively, the third motion link mechanism swings downward around the rotary motion pair f, and the motion execution end moves downward in the plane at this time;

[0037] The first sliding part moves backward along the first linear guide device or the movement speed is lower than the movement speed of the second sliding part and the third sliding part along the second linear guide device and the third linear guide device respectively, and the upper link a and the lower link b of the first motion link mechanism swing upward around the rotary motion pair g and the rotary motion pair j respectively; the third motion link mechanism swings upward around the rotary motion pair f, and the motion execution end moves upward in the plane at this time;

[0038] The above steps, and synchronous or asynchronous motion, drive the motion execution end to move within the outer frame.

[0039] The multi-link cross-parallel loading robot of the present invention has the following advantages and positive effects:

[0040] 1. The first motion link mechanism, the second motion link mechanism, and the third motion link mechanism are connected in parallel with the motion execution end, which improves the carrying capacity and dynamic characteristics of the loading robot compared with patents CN113733055A, CN113733055A, CN108284428A, CN116922362A, EP3138670A1, and EP3272470B1;

[0041] 2. By adjusting the positions of the first sliding part, the second sliding part and the third sliding part on the first linear guide device, the second linear guide device and the third linear guide device, the position of the motion execution end is adjusted, compared with patents CN212608257U, CN110815183A, CN110815184A, CN106826765A, and CN106584426A, the working space and carrying capacity of the loading robot are greatly improved.

[0042] 3. The first motion link mechanism, the second motion link mechanism, and the third motion link mechanism all adopt a link mechanism, which is beneficial to reducing the weight of the robot and can make the side surface of the motion execution end always parallel to the side surface of the outer frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0044] Figure 2 yes Figure 1 Rear view of

[0045] Figure 3 It is a schematic diagram of the installation of a loading robot with multiple cross-links in parallel according to the present invention;

[0046] Figure 4 yes Figure 3 Installation diagram of the multi-link cross parallel mechanism;

[0047] Figure 5 It is a structural schematic diagram of the parallelogram mechanism of the first motion link mechanism and the second motion link mechanism of the present invention;

[0048] Figure 6 It is a structural schematic diagram of the third motion connecting rod mechanism of the present invention.

[0049] In the figure: 1: outer frame, 2: first linear guide device, 3: second linear guide device, 4: third linear guide device, 5: first sliding part, 6: second sliding part, 7: third sliding part, 8: first motion link mechanism, 9: second motion link mechanism, 10: third motion link mechanism, 11: motion execution end, 12: rotation motion pair d, 13: rotation motion pair e, 14: rotation motion pair f, 15: rotation motion pair a, 16: rotation motion pair b, 17 : Rotational motion pair c, 18: Fixed seat a, 19: Servo motor a, 20: Rear end connecting rod, 21: Rotational motion pair g, 22: Upper connecting rod a, 23: Rotational motion pair h, 24: Front end connecting rod, 25: Rotational motion pair i, 26: Lower connecting rod b, 27: Rotational motion pair j, 28: Front end T-bar, 29: Rotational motion pair k, 30: Long connecting rod, 31: Rotational motion pair m, 32: Rear end T-bar, 33: Drive fixed seat b, 34: Servo motor b. DETAILED DESCRIPTION

[0050] A multi-link cross-parallel loading robot of the present invention is described in detail below in conjunction with the embodiments and drawings.

[0051] like Figure 1 , Figure 2 , Figure 3 As shown, a multi-link cross-parallel loading robot of the present invention comprises an outer frame 1 and a first linear guide device 2, a second linear guide device 3 and a third linear guide device 4 installed on the outer frame 1, as well as a first sliding portion 5, a second sliding portion 6, a third sliding portion 7, a first motion link mechanism 8, a second motion link mechanism 9, a third motion link mechanism 10 and a motion execution end 11. The middle of the outer frame is a loading channel that runs through, and the carrier to be loaded travels to the transfer channel in the outer frame for transfer operations.

[0052] The first linear guide device 2, the second linear guide device 3 and the third linear guide device 4 of the present invention are provided with linear guide rails. In the present device, the first linear guide device 2 is installed on the upper side of the outer frame 1, and the second linear guide device 3 and the third linear guide device 4 are installed on the left and right sides of the outer frame 1 respectively;

[0053] The first sliding part 5, the second sliding part 6 and the third sliding part 7 are respectively mounted on the first linear guide device 2, the second linear guide device 3 and the third linear guide device 4;

[0054] The first sliding portion 5, the second sliding portion 6 and the third sliding portion 7 move along the first linear guide device 2, the second linear guide device 3 and the third linear guide device 4 respectively.

[0055] The linear drive mechanism drives the first sliding part 5, the second sliding part 6 and the third sliding part 7 to move linearly along the linear guide rails of the first linear guide device 2, the second linear guide device 3 and the third linear guide device 4 respectively.

[0056] The guide axes of the first linear guide device 2, the second linear guide device 3 and the third linear guide device 4 are parallel to each other;

[0057] The first motion link mechanism 8, the second motion link mechanism 9, and the third motion link mechanism 10 are connected in parallel with the motion execution end 11, and the position of the motion execution end 11 is adjusted by adjusting the positions of the first sliding part 5, the second sliding part 6, and the third sliding part 7 on the first linear guide device 2, the second linear guide device 3, and the third linear guide device 4;

[0058] The parallelogram mechanism of the first motion link mechanism 8 keeps the bottom surface of the motion execution end 11 parallel to the upper side surface of the outer frame 1 , and the parallelogram mechanism of the second motion link mechanism 9 keeps the left and right sides of the motion execution end 11 parallel to the left and right sides of the outer frame 1 .

[0059] Specifically, the front end link of the first motion link mechanism 8 is connected to the motion execution end 11 via a rotary motion pair a15 installed on the motion execution end 11 , and the rear end link is connected to the first sliding part 5 via a rotary motion pair d12 installed on the first sliding part 5 .

[0060] The front end connecting rod of the second motion linkage mechanism 9 is connected to the motion execution end 11 through a rotational motion pair c17 installed on the motion execution end 11, and the rear end connecting rod is connected to the second sliding part 6 through a rotational motion pair e13 installed on the second sliding part 6; the front end T-bar of the third motion linkage mechanism 10 is connected to the motion execution end 11 through a rotational motion pair b16 installed on the motion execution end 11, and the rear end T-bar is connected to the third sliding part 7 through a rotational motion pair f14 installed on the third sliding part 7.

[0061] The second motion link mechanism 9 is a parallelogram mechanism, and the third motion link mechanism 10 is a single link mechanism. The third motion link mechanism 10 runs through the second motion link mechanism 9 , with a front end connected to the motion execution end 11 and a rear end connected to the third sliding portion 7 .

[0062] like Figure 4 , Figure 5 , Figure 6 As shown, the first motion link mechanism 8 and the second motion link mechanism 9 have the same structure, including a rear end link 20, a front end link 24, an upper link a22, a lower link b26, a rotary motion pair g21, a rotary motion pair h23, a rotary motion pair i25 and a rotary motion pair j27, the upper end of the rear end link 20 is connected to the rear end of the long link a22 through the rotary motion pair g21, the lower end of the rear end link 20 is connected to the rear end of the long link b26 through the rotary motion pair j27, the upper end of the front end link 24 is connected to the front end of the long link a22 through the rotary motion pair h23, and the lower end of the front end link 24 is connected to the front end of the long link b26 through the rotary motion pair i25;

[0063] The rear connecting rod 20, the upper connecting rod a22, the lower connecting rod b26 and the front connecting rod 24 form a parallelogram mechanism, which always keeps the rear connecting rod 20 and the front connecting rod 24 parallel to each other, and the upper connecting rod a22 and the lower connecting rod b26 parallel to each other. The first motion connecting rod mechanism 8 and the second motion connecting rod mechanism 9 both adopt parallelogram mechanisms, so that the upper side surface and the left and right side surfaces of the motion execution end are always parallel to the upper side surface and the left and right side surfaces of the outer frame.

[0064] The front connecting rods of the first and second motion link mechanisms 8 and 9 are coaxially arranged with the rotary motion pair a15, and can be the same structure, or an inner-outer nested structure, with the rotary motion pair a15 having a cylinder outside and the front connecting rod inserted into the cylinder structure of the rotary motion pair a15. The rear connecting rod is arranged similarly with the rotary motion pair d12.

[0065] The first sliding part, the second sliding part and the motion execution end are respectively provided with shaft hole structures, and the rotary motion pair a15 and the rotary motion pair d12 are inserted into the shaft hole structures.

[0066] The first motion link mechanism 8, the second motion link mechanism 9 and the third motion link mechanism 10 of the present invention are all link structures, which are beneficial to reducing the automation of the robot, improving the overall dynamic characteristics and reducing the manufacturing cost.

[0067] The third motion link mechanism 10 includes a front end T-bar 28, a rotational motion pair k29, a long connecting rod 30, a rotational motion pair m31, and a rear end T-bar 32. The front end T-bar 28 is connected to the front end of the long connecting rod 30 through the rotational motion pair k29, and the rear end T-bar 32 is connected to the rear end of the long connecting rod 30 through the rotational motion pair m31.

[0068] The transverse rod part of the front end T-shaped rod 28 of the third motion link mechanism 10 has the same structure as the rotary motion pair b16, and the transverse rod part of the rear end T-shaped rod 32 has the same structure as the rotary motion pair f14. Two coaxial shaft hole structures are provided on the third sliding part and the motion execution end, and the two ends of the front end T-shaped rod 28 and the rear end T-shaped rod 32 are respectively embedded in the two shaft hole structures.

[0069] The first sliding part 5 and the second sliding part 6 have the same structure, including a fixed seat a18, a linear drive mechanism, a servo motor, a gear and a rack of the linear drive mechanism, the servo motor a19 is installed on the fixed seat a18, the rack is installed on one side of the linear guide rail of the first linear guide device 2 and the second linear guide device 3, the gear is installed on the output shaft of the servo motor, and the servo motor a19 drives the fixed seat a18 to move linearly along the guide device through the gear rack;

[0070] The third sliding part 7 includes a fixed seat b33 and a linear drive mechanism. A gear is arranged on the output shaft of the servo motor b34 of the linear drive mechanism. The gear cooperates with the rack. The rack is arranged on one side of the linear guide rail of the third linear guide device 4.

[0071] The servo motor b34 is fixed on the fixed seat b33, the gear is meshed with the rack, and the servo motor b34 drives the fixed seat b33 to move linearly along the guide device. The servo motor a19 of the first sliding part 5 and the second sliding part 6 of the device, and the servo motor b34 of the third sliding part 7 can also be replaced by a hydraulic or pneumatic drive structure. To drive the operation of the traditional mechanism of gear and rack synchronization. The traditional mechanism of rack and gear synchronization can also be replaced by a screw transmission pair mechanism.

[0072] The working process of this device is described as follows:

[0073] The motion process of the motion execution end 11 is described with the outer frame interface which is perpendicular to the guide directions of the first linear guide device 2, the second linear guide device 3 and the third linear guide device 4 as a reference plane.

[0074] The operation steps include the following:

[0075] 1) The motion execution end 11 moves back and forth relative to the reference surface, and the first sliding part 5, the second sliding part 6 and the third sliding part 7 move in the same direction and at the same speed along the corresponding guide device, and the motion execution end 11 is driven to move linearly through the first motion link mechanism 8, the second motion link mechanism 9 and the third motion link mechanism 10, that is, it moves back and forth in the outer frame 1;

[0076] 2) The motion execution end 11 moves left and right along the above-mentioned reference plane.

[0077] The first sliding part 5 does not move relative to the reference plane, the second sliding part 6 moves forward along the second linear guide device 3, and the upper link a22 and the lower link b26 of the second motion link mechanism swing backwards around the rotary motion pair g21 and the rotary motion pair j27 respectively; the third sliding part 7 moves backwards along the third linear guide device 4 or the movement speed of the third sliding part 7 along the third linear guide device 4 is lower than the movement speed of the second sliding part 6 along the second linear guide device 3, and the third motion link mechanism 10 swings forwards around the rotary motion pair f14. At this time, the motion execution end 11 moves to the left side of the reference plane;

[0078] The third sliding part 7 moves forward along the third linear guide device 4, the third motion link mechanism 10 swings backward around the rotary motion pair f14 in a radius, the second sliding part 6 moves backward along the second linear guide device 2 or the movement speed of the second sliding part 6 along the second linear guide device 2 is less than the movement speed of the third sliding part 7 along the third linear guide device 4, and the upper link a22 and the lower link b26 of the second motion link mechanism swing forward around the rotary motion pair g21 and the rotary motion pair j27 in a radius respectively; at this time, the motion execution end 11 moves to the right side of the reference plane;

[0079] 3) The motion execution end moves up and down along the reference plane.

[0080] The first sliding part 5 moves forward along the first linear guide device 2, and the upper link a22 and the lower link b26 of the first motion link mechanism 8 swing backward around the rotary motion pair g21 and the rotary motion pair j27 respectively;

[0081] The second sliding part 6 and the third sliding part 7 are stationary relative to the plane or the movement speed is lower than the movement speed of the first sliding part 5 along the first linear guide device 2. The upper connecting rod a22 and the lower connecting rod b26 of the second sliding part 6 swing downward around the rotary motion pair g21 and the rotary motion pair j27 respectively. The third motion link mechanism 10 swings downward around the rotary motion pair f14. At this time, the motion execution end moves downward in the plane.

[0082] The first sliding part 5 moves backward along the first linear guide device 2 or the movement speed is lower than the movement speed of the second sliding part 6 and the third sliding part 7 along the second linear guide device 3 and the third linear guide device 4 respectively, and the upper link a22 and the lower link b26 of the first motion link mechanism 8 swing upward around the rotary motion pair g21 and the rotary motion pair j27 respectively; the third motion link mechanism 10 swings upward around the rotary motion pair f14, and the motion execution end moves upward in the plane at this time;

[0083] The above steps 1, 2 and 3 may be performed synchronously or asynchronously, driving the motion execution end 11 to move in the loading channel of the outer frame 1.

[0084] As the positions of the first sliding part 5, the second sliding part 6, and the third sliding part 7 change, and the angles of the first motion link mechanism 8, the second motion link mechanism 9, and the third motion link mechanism 10 change, the motion execution end 11 rotates around the front end connecting rod 24 of the first motion link mechanism 8 and the second motion link mechanism 9, and rotates around the front end T-bar 28 of the third motion link mechanism 10, so that the motion execution end 11 completes up and down, left and right, and front and back movements.

[0085] Although the preferred embodiments of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments, which are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which fall within the scope of protection of the present invention.

Claims

1. A multi-link cross-parallel loading robot, comprising an outer frame (1), a first linear guide device (2), a second linear guide device (3) and a third linear guide device (4) mounted on the outer frame (1), a first sliding portion (5), a second sliding portion (6), a third sliding portion (7), a first motion link mechanism (8), a second motion link mechanism (9), a third motion link mechanism (10) and a motion execution end (11), wherein the first linear guide device (2), the second linear guide device (3) and the third linear guide device (4) are provided with linear guide rails; It is characterized in that The middle of the outer frame is a loading channel that runs through. The first linear guide device (2) is installed on the upper side of the loading channel of the outer frame (1), and the second linear guide device (3) and the third linear guide device (4) are respectively installed on the left and right sides of the loading channel of the outer frame (1); the first sliding part (5), the second sliding part (6) and the third sliding part (7) are respectively installed on the linear guide rails of the first linear guide device (2), the second linear guide device (3) and the third linear guide device (4), and the first sliding part (5), the second sliding part (6) and the third sliding part (7) are respectively provided with a linear driving mechanism; the linear driving mechanism drives the first sliding part (5), the second sliding part (6) and the third sliding part (7) to move linearly along the linear guide rails of the first linear guide device (2), the second linear guide device (3) and the third linear guide device (4); The front end connecting rod of the first motion link mechanism (8) is connected to the motion execution end (11) via a rotary motion pair a (15) mounted on the motion execution end (11), and the rear end connecting rod is connected to the first sliding part (5) via a rotary motion pair d (12) mounted on the first sliding part (5); The front end connecting rod of the second motion link mechanism (9) is connected to the motion execution end (11) via a rotary motion pair c (17) mounted on the motion execution end (11), and the rear end connecting rod is connected to the second sliding part (6) via a rotary motion pair e (13) mounted on the second sliding part (6); The second motion link mechanism (9) is a parallelogram mechanism, the third motion link mechanism (10) is a single link mechanism, the third motion link mechanism (10) runs through the middle of the parallelogram mechanism of the second motion link mechanism (9), the front end is connected to the motion execution end (11), and the rear end is connected to the third sliding part (7); The first motion link mechanism (8) and the second motion link mechanism (9) have the same structure, comprising a rear end link (20), a front end link (24), a long link a (22), a long link b (26), a rotary motion pair g (21), a rotary motion pair h (23), a rotary motion pair i (25) and a rotary motion pair j (27), wherein the upper end of the rear end link (20) is connected to the rear end of the long link a (22) via the rotary motion pair g (21), the lower end of the rear end link (20) is connected to the rear end of the long link b (26) via the rotary motion pair j (27), the upper end of the front end link (24) is connected to the front end of the long link a (22) via the rotary motion pair h (23), and the lower end of the front end link (24) is connected to the front end of the long link b (26) via the rotary motion pair i (25); The third motion link mechanism (10) comprises a front end T-shaped rod (28), a rotary motion pair k (29), a long connecting rod (30), a rotary motion pair m (31), and a rear end T-shaped rod (32), wherein the front end T-shaped rod (28) is connected to the front end of the long connecting rod (30) via the rotary motion pair k (29), and the rear end T-shaped rod (32) is connected to the rear end of the long connecting rod (30) via the rotary motion pair m (31); The front end T-shaped rod of the third motion link mechanism (10) is connected to the motion execution end (11) via a rotary motion pair b (16) mounted on the motion execution end (11), and the rear end T-shaped rod is connected to the third sliding part (7) via a rotary motion pair f (14) mounted on the third sliding part (7); The bottom surface of the motion execution end (11) is maintained parallel to the upper side surface of the outer frame (1) by a parallelogram mechanism of the first motion link mechanism (8), and the left and right side surfaces of the motion execution end (11) are maintained parallel to the left and right side surfaces of the outer frame (1) by a parallelogram mechanism of the second motion link mechanism (9).

2. The multi-link cross-parallel loading robot according to claim 1, characterized in that: The first motion link mechanism (8), the second motion link mechanism (9), and the third motion link mechanism (10) are connected in parallel with the motion execution end (11), and the position of the motion execution end (11) is adjusted by adjusting the positions of the first sliding part (5), the second sliding part (6), and the third sliding part (7) on the first linear guide device (2), the second linear guide device (3), and the third linear guide device (4).

3. The multi-link cross-parallel loading robot according to claim 1, characterized in that: The guide axes of the linear guide rails of the first linear guide device (2), the second linear guide device (3) and the third linear guide device (4) are parallel to each other.

4. The multi-link cross-parallel loading robot according to claim 1, characterized in that: The rear connecting rod (20), the long connecting rod a (22), the long connecting rod b (26) and the front connecting rod (24) form a parallelogram mechanism, and the rear connecting rod (20) and the front connecting rod (24) are always parallel to each other, and the long connecting rod a (22) and the long connecting rod b (26) are always parallel to each other.

5. The multi-link cross-parallel loading robot according to claim 1, characterized in that: The third motion link mechanism (10) comprises: a front end T-shaped rod (28), a rotary motion pair k (29), a long connecting rod (30), a rotary motion pair m (31), and a rear end T-shaped rod (32); the front end T-shaped rod (28) is connected to the front end of the long connecting rod (30) via the rotary motion pair k (29), and the rear end T-shaped rod (32) is connected to the rear end of the long connecting rod (30) via the rotary motion pair m (31).

6. The multi-link cross-parallel loading robot according to claim 1, characterized in that: The first sliding part (5) and the second sliding part (6) have the same structure, and include a fixed seat a (18) and a servo motor a (19). The servo motor a (19) is mounted on the fixed seat a (18). The servo motor a (19) drives the fixed seat a (18) to move linearly along the guide device.

7. The multi-link cross-parallel loading robot according to claim 1, characterized in that: The third sliding part (7) comprises: a fixed seat b (33) and a servo motor b (34). The servo motor b (34) is mounted on the fixed seat b (33). The servo motor b (34) drives the fixed seat b (33) to move linearly along the guide device.

8. The multi-link cross-parallel loading robot according to claim 1, characterized in that: The servo motors a (19) of the first sliding part (5) and the second sliding part (6), and the servo motor b (34) of the third sliding part (7) are replaced with hydraulic or pneumatic drive structures.

9. A method for operating a multi-link cross-parallel loading robot according to claim 4, characterized in that: An outer frame interface which is perpendicular to the guide directions of the first linear guide device (2), the second linear guide device (3) and the third linear guide device (4) is used as a reference plane. The operation steps include the following: 1) the motion execution end (11) moves back and forth relative to the reference surface, the first sliding part (5), the second sliding part (6) and the third sliding part (7) move in the same direction and at the same speed along the corresponding guide device, and the motion execution end (11) is driven to move linearly through the first motion link mechanism (8), the second motion link mechanism (9) and the third motion link mechanism (10), that is, to move back and forth within the outer frame (1); 2) The motion execution end (11) moves left and right along the above-mentioned reference plane. The first sliding part (5) remains stationary relative to the reference plane, the second sliding part (6) moves forward along the second linear guide device (3), and the long link a (22) and the long link b (26) of the second motion link mechanism respectively swing backward in a radius around the rotary motion pair g (21) and the rotary motion pair j (27); the third sliding part (7) moves backward along the third linear guide device (4) or the movement speed of the third sliding part (7) along the third linear guide device (4) is less than the movement speed of the second sliding part (6) along the second linear guide device (3), and the third motion link mechanism (10) swings forward in a radius around the rotary motion pair f (14), and at this time, the motion execution end (11) moves to the left side of the reference plane; The third sliding part (7) moves forward along the third linear guide device (4), the third motion link mechanism (10) swings backward in a radius around the rotary motion pair f (14), the second sliding part (6) moves backward along the second linear guide device (3) or the movement speed of the second sliding part (6) along the second linear guide device (3) is less than the movement speed of the third sliding part (7) along the third linear guide device (4), and the long link a (22) and the long link b (26) of the second motion link mechanism swing forward in a radius around the rotary motion pair g (21) and the rotary motion pair j (27) respectively; at this time, the motion execution end (11) moves to the right side of the reference plane; 3) The motion execution end moves up and down along the reference plane. The first sliding portion (5) moves forward along the first linear guide device (2), and the long link a (22) and the long link b (26) of the first motion link mechanism (8) swing backward around the rotary motion pair g (21) and the rotary motion pair j (27) respectively; The second sliding part (6) and the third sliding part (7) are stationary relative to the plane or move at a speed lower than the movement speed of the first sliding part (5) along the first linear guide device (2), the long connecting rod a (22) and the long connecting rod b (26) of the second sliding part (6) swing downward around the rotary motion pair g (21) and the rotary motion pair j (27) respectively, the third motion link mechanism (10) swings downward around the rotary motion pair f (14), and the motion execution end moves downward in the plane at this time; The first sliding part (5) moves backward along the first linear guide device (2) or moves at a speed lower than the speed of the second sliding part (6) and the third sliding part (7) moving along the second linear guide device (3) and the third linear guide device (4), respectively; the long link a (22) and the long link b (26) of the first motion link mechanism (8) swing upward around the rotary motion pair g (21) and the rotary motion pair j (27), respectively; the third motion link mechanism (10) swings upward around the rotary motion pair f (14), and the motion execution end moves upward in the plane at this time; 4) The above steps 1), 2) and 3) are performed synchronously or asynchronously, driving the motion execution end (11) to move within the outer frame (1).

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