Multi-degree-of-freedom robot with parallel mechanism as position mechanism

Abstract

The invention relates to a multi-degree-of-freedom robot with a parallel mechanism as a position mechanism. The multi-degree-of-freedom robot comprises a mounting base, a first rotary mounting base, a second rotary arm, a linear guide device, a sliding device, a connecting rod, a third rotary mounting base, a third rotary arm and a fourth rotary arm. The second rotating arm, the linear guide device, the sliding device, the connecting rod and the third rotating mounting base are adopted to form a plane parallel mechanism with the first rotating mounting base as a rack, the power device a and the motor b jointly drive the second rotating arm and the third rotating mounting base to move, and the bearing capacity and the overall rigidity of the robot are improved; and the motion planes of the second rotating arm, the linear guide device, the sliding device, the connecting rod and the third rotating mounting seat are the same plane, so that the kinematics forward and inverse solutions have analytical solutions, and real-time control is facilitated.

Description

Technical Field

[0001] The invention relates to the technical field of multi-degree-of-freedom industrial robots, in particular to a multi-degree-of-freedom robot using a parallel mechanism as a position mechanism. Background Art

[0002] Multi-DOF industrial robots have the advantages of large working space and strong environmental adaptability. They are widely used in various industrial fields such as palletizing, handling, machining, welding, etc., and have become essential automation equipment in modern manufacturing. With the popularization of multi-DOF industrial robots in the fields of automobile manufacturing, aerospace, etc., more stringent requirements are put forward for the load capacity and rigidity of industrial robots.

[0003] The multi-degree-of-freedom industrial robots disclosed in patents CN116922362A and EP3138670A1 are all rotary hinges, and the drive motors are connected in series. In order to improve the end stiffness of the robot, the structural size of the robot body needs to be large, resulting in a heavy robot and poor movement flexibility.

[0004] The multi-degree-of-freedom industrial robots disclosed in patents CN115256356A, CN116038758A, and EP3272470B1 partially use length adjustment devices as drive hinges, but the length adjustment devices are still connected in series with each other or with other drive motors, and no closed loop of the drive motion chain is formed, so the rigidity and load-bearing capacity are relatively weak. ‌‌ Summary of the invention

[0005] In view of the above problems, the present invention provides a multi-degree-of-freedom robot using a parallel mechanism as a position mechanism to solve the problems of large load-bearing capacity and high rigidity of industrial robots.

[0006] To achieve the above object, the present invention provides the following technical solutions: A multi-degree-of-freedom robot with a parallel mechanism as a position mechanism, comprising a mounting base, a first rotating mounting base, a second rotating arm, a linear guide device, a sliding device, a connecting rod, a third rotating mounting base, a third rotating arm, and a fourth rotating arm, wherein a motor a and a power output device are mounted on the mounting base, the motor a drives the power output device to rotate, and the first rotating mounting base is mounted on the power output device and rotates with the power output device; The first rotating mounting seat is provided with a power device a and a linear guide device, the sliding device is provided with a rotating pair a, and the third rotating mounting seat is provided with a power device b, a rotating pair b and a rotating pair c; The lower end of the second rotating arm is installed on the output side of the power device a, and the power device a drives the second rotating arm to rotate. The upper end of the second rotating arm is connected to the third rotating mounting seat through the rotating pair b; A guide rail is installed on the linear guide device, and the sliding device is installed on the guide rail of the linear guide device and is driven by a motor b installed on the linear guide device to move along the guide rail; The lower end of the connecting rod is connected to the sliding device through a rotating pair a, and the upper end is connected to the third rotating mounting seat through a rotating pair c; The rear end of the third rotating arm is installed on the output side of the power device b, the power device b drives the third rotating arm to rotate, and the front end of the third rotating arm is installed with the power device c; The rear end of the fourth rotating arm is installed on the output side of the power device c, the power device d drives the fourth rotating arm to rotate, the front end of the fourth rotating arm is installed with the power device d, and the output side of the power device d can be installed with the end effector.

[0007] As a further technical solution of the present invention, the second rotating arm, linear guide device, sliding device, connecting rod and third rotating mounting seat constitute a parallel mechanism with the first rotating mounting seat as the frame, and the second rotating arm and the third rotating mounting seat are jointly driven by power device a and motor b.

[0008] As a further technical solution of the present invention, the rotation axes of the power device a, the rotation pair a, the rotation pair b and the rotation pair c are parallel to each other.

[0009] As a further technical solution of the present invention, the central axis of the second rotating arm, the central axis of the connecting rod, the guide axis of the guide rail of the linear guide device, and the rotation axis of the power device b are in the same plane.

[0010] As a further technical solution of the present invention, the second rotating arm and the linear guide device are installed on both sides of the rotation axis of the power output device.

[0011] As a further technical solution of the present invention, motor a, power device a, motor b, power device b, power device c, and power device d adopt servo motors or hydraulic or pneumatic drive structures.

[0012] Compared with the prior art, the present invention has the following beneficial effects: 1. A second rotating arm, a linear guide device, a sliding device, a connecting rod and a third rotating mounting seat are used to form a planar parallel mechanism with the first rotating mounting seat as a frame, and the second rotating arm and the third rotating mounting seat are driven by the power device a and the motor b together. Compared with the multi-degree-of-freedom industrial robots disclosed in patents CN116922362A, EP3138670A1, CN115256356A, CN116038758A, and EP3272470B1, the robot's carrying capacity and overall rigidity are improved; 2. The motion planes of the second rotating arm, the linear guide device, the sliding device, the connecting rod and the third rotating mounting seat are the same plane, so that both the forward and inverse kinematic solutions have analytical solutions, which is convenient for real-time control. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0014] Figure 2 yes Figure 1 Left view of .

[0015] Figure 3 yes Figure 1 Top view of the .

[0016] Figure 4 It is a schematic diagram of the planar parallel mechanism of the present invention.

[0017] Figure 5 yes Figure 4 Schematic diagram of the third rotation mount in FIG.

[0018] Figure 6 yes Figure 4 Schematic diagram of the linear guide and slide device.

[0019] Notes on figure marks: 1-mounting base, 2-motor a, 3-first rotating mounting seat, 4-power unit a, 5-second rotating arm, 6-linear guide device, 7-motor b, 8-sliding device, 9-connecting rod, 10-third rotating mounting seat, 11-power unit b, 12-third rotating arm, 13-power unit c, 14-fourth rotating arm, 15-power unit d, 16-power output device, 17-rotation pair a, 18-rotation pair b, 19-rotation pair c. DETAILED DESCRIPTION

[0020] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0021] like Figure 1 , Figure 2 , Figure 3 As shown, a multi-degree-of-freedom robot with a parallel mechanism as a positioning mechanism of the present invention includes a mounting base 1, a first rotating mounting seat 3, a second rotating arm 5, a linear guide device 6, a sliding device 8, a connecting rod 9, a third rotating mounting seat 10, a third rotating arm 12, and a fourth rotating arm 14.

[0022] The mounting base 1 is provided with a motor a2 and a power output device 16, the motor a2 drives the power output device 16 to rotate, and the first rotating mounting base 3 is mounted on the power output device 16 and rotates with the power output device 16; The first rotating mounting seat 3 is provided with a power device a4 and a linear guide device 6, the sliding device 8 is provided with a rotation pair a17, and the third rotating mounting seat 10 is provided with a power device b11, a rotation pair b18 and a rotation pair c19; The lower end of the second rotating arm 5 is installed on the output side of the power device a4, and the power device a4 drives the second rotating arm 5 to rotate. The upper end of the second rotating arm 5 is connected to the third rotating mounting seat 10 through the rotating pair b18; The linear guide device 6 is provided with a guide rail, the sliding device 8 is provided on the guide rail of the linear guide device 6, and is driven by a motor b7 provided on the linear guide device 6 to move along the guide rail; The lower end of the connecting rod 9 is connected to the sliding device 8 through a rotating pair a17, and the upper end is connected to the third rotating mounting seat 10 through a rotating pair c19; The rear end of the third rotating arm 12 is installed on the output side of the power device b11. The power device b11 drives the third rotating arm 12 to rotate. The front end of the third rotating arm 12 is installed with a power device c13. The rear end of the fourth rotating arm 14 is installed on the output side of the power device c13. The power device d15 drives the fourth rotating arm 14 to rotate. The front end of the fourth rotating arm 14 is installed with the power device d15. The output side of the power device d15 can be installed with an end effector.

[0023] like Figure 4 , Figure 5 , Figure 6 As shown, in the present device, the second rotating arm 5, the linear guide device 6, the sliding device 8, the connecting rod 9 and the third rotating mounting seat 10 constitute a parallel mechanism with the first rotating mounting seat 3 as a frame, and the second rotating arm 5 and the third rotating mounting seat 10 are driven by the power device a4 and the motor b7 to move; In this device, the rotation axes of the power device a4, the rotation pair a17, the rotation pair b18 and the rotation pair c19 are parallel to each other; In this device, the central axis of the second rotating arm 5, the central axis of the connecting rod 9, the guide axis of the guide rail of the linear guide device 6, and the rotation axis of the power device b11 are in the same plane; In this device, the second rotating arm 5 and the linear guide device 6 are installed on both sides of the rotation axis of the power output device 16; In this device, motor a2, power device a4, motor b7, power device b11, power device c13, and power device d15 adopt servo motors or hydraulic or pneumatic drive structures.

[0024] In this device, the second rotating arm 5, the linear guide device 6, the sliding device 8, the connecting rod 9 and the third rotating mounting seat 10 constitute a parallel mechanism, the power device a4 drives the second rotating arm 5 to swing forward and backward around the axis of the power device a4, and the third rotating mounting seat 10 swings up and down around the rotation axis of the rotating pair b18 by adjusting the position of the sliding device 8 on the linear guide device 6. The second rotating arm 5 and the third rotating mounting seat 10 are driven to move in parallel by the power device a4 and the motor b7, thereby improving the end stiffness and load-bearing capacity of the robot.

[0025] It should be noted that, in this article, the term "comprises" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of more restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0026] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A multi-degree-of-freedom robot with a parallel mechanism as a position mechanism, comprising a mounting base (1), a first rotating mounting seat (3), a second rotating arm (5), a linear guide device (6), a sliding device (8), a connecting rod (9), a third rotating mounting seat (10), a third rotating arm (12), and a fourth rotating arm (14), characterized in that: The mounting base (1) is mounted with a motor a (2) and a power output device (16), the motor a (2) drives the power output device (16) to rotate, and the first rotating mounting base (3) is mounted on the power output device (16) and rotates with the power output device (16); A power device a (4) and a linear guide device (6) are mounted on the first rotating mounting seat (3), a rotating pair a (17) is mounted on the sliding device (8), and a power device b (11), a rotating pair b (18) and a rotating pair c (19) are mounted on the third rotating mounting seat (10); The lower end of the second rotating arm (5) is mounted on the output side of the power device a (4), the power device a (4) drives the second rotating arm (5) to rotate, and the upper end of the second rotating arm (5) is connected to the third rotating mounting seat (10) via a rotating pair b (18); A guide rail is mounted on the linear guide device (6), and the sliding device (8) is mounted on the guide rail of the linear guide device (6) and is driven by a motor b (7) mounted on the linear guide device (6) to move along the guide rail; The lower end of the connecting rod (9) is connected to the sliding device (8) via a rotating pair a (17), and the upper end is connected to the third rotating mounting seat (10) via a rotating pair c (19); The rear end of the third rotating arm (12) is mounted on the output side of the power device b (11), the power device b (11) drives the third rotating arm (12) to rotate, and the front end of the third rotating arm (12) is mounted with a power device c (13); The rear end of the fourth rotating arm (14) is mounted on the output side of the power device c (13), the power device d (15) drives the fourth rotating arm (14) to rotate, the front end of the fourth rotating arm (14) is mounted with the power device d (15), and the output side of the power device d (15) can be mounted with an end effector.

2. A multi-degree-of-freedom robot with a parallel mechanism as a position mechanism according to claim 1, characterized in that: The second rotating arm (5), the linear guide device (6), the sliding device (8), the connecting rod (9) and the third rotating mounting seat (10) constitute a parallel mechanism with the first rotating mounting seat (3) as a frame, and the second rotating arm (5) and the third rotating mounting seat (10) are jointly driven by the power device a (4) and the motor b (7) to move.

3. A multi-degree-of-freedom robot with a parallel mechanism as a position mechanism according to claim 1, characterized in that: The rotation axes of the power device a (4), the rotation pair a (17), the rotation pair b (18) and the rotation pair c (19) are parallel to each other.

4. A multi-degree-of-freedom robot with a parallel mechanism as a position mechanism according to claim 1, characterized in that: The central axis of the second rotating arm (5), the central axis of the connecting rod (9), the guide axis of the guide rail of the linear guide device (6), and the rotation axis of the power device b (11) are in the same plane.

5. The multi-degree-of-freedom robot with a parallel mechanism as a position mechanism according to claim 1, characterized in that: The second rotating arm (5) and the linear guide device (6) are installed on both sides of the rotating axis of the power output device (16).

6. The multi-degree-of-freedom robot with a parallel mechanism as a position mechanism according to claim 1, characterized in that: The motor a (2), the power device a (4), the motor b (7), the power device b (11), the power device c (13), and the power device d (15) adopt a servo motor or a hydraulic or pneumatic drive structure.

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