Parallel robot for testing simulation

Abstract

The application provides a parallel robot for test simulation, and relates to the field of robots, which comprises an upper platform, a connecting rod mechanism, a sliding mechanism and a mounting base, six groups of the mounting base are arranged below the upper platform, the mounting base has an upper inclined surface, the sliding mechanism is arranged on the upper inclined surface, the connecting rod mechanism is hingedly arranged between the upper platform and the sliding mechanism, the sliding mechanism is used for driving the lower end of the connecting rod mechanism to reciprocate along the length direction of the upper inclined surface, so as to correspondingly adjust the inclination degree of the connecting rod mechanism; the connecting rod mechanism comprises an upper hinge seat, an upper rod body, a lower rod body and a lower hinge seat, one end of the upper rod body is hingedly connected with the upper platform through the upper hinge seat, one end of the lower rod body is hingedly connected with the sliding mechanism through the lower hinge seat, and the upper rod body and the lower rod body are coaxially connected in a rotating mode, so that the connecting rod mechanism has one rotating degree of freedom. The application can solve the technical problem that the robot in the related art has poor movement ability in a limited space range.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a parallel robot for experimental simulation. Background Technology

[0002] In flight simulation experiments, six-DOF parallel robots are typically used as the bottom platform of a flight model, with the top used to mount the model. The robots simulate the flight data parameters of the model after adjustments at different angles through their own movement. However, existing six-DOF parallel robots rely primarily on increasing the stroke of the actuators to achieve large-angle or large-displacement movements. While this approach can improve the static performance of the device to some extent, it also introduces numerous problems.

[0003] First, the increased stroke inevitably leads to a larger overall size of the equipment, which not only increases manufacturing difficulty and cost but also imposes higher safety envelope requirements on the equipment's placement location. Furthermore, transportation, disassembly, and maintenance become more complex, hindering flexibility in practical applications. More importantly, due to the structural characteristics of parallel mechanisms, once the actuator length increases to a certain extent, simply extending the stroke is insufficient to meet the demands of larger motion parameters. This is mainly because an excessively long actuator necessitates a simultaneous increase in the size of the upper and lower distribution circles to prevent mechanical interference. However, the increase in the distribution circles is also limited by physical space; if the distribution circles are too large, the overall structure may struggle to achieve the expected wide range of motion.

[0004] Therefore, achieving greater motion capabilities within a limited space and breaking through the dependence of existing six-degree-of-freedom parallel robots on the length of the actuator and the size of the distribution circle has become a pressing technical challenge in this field. Summary of the Invention

[0005] This application discloses a parallel robot for experimental simulation, in order to solve the technical problems of parallel robots for experimental simulation in related technologies.

[0006] This application provides a parallel robot for experimental simulation, which adopts the following technical solution:

[0007] A parallel robot for experimental simulation includes an upper platform, a linkage mechanism, a sliding mechanism, and a mounting base. Six sets of mounting bases are arranged below the upper platform, forming an equilateral triangle directly below the platform. Each pair of mounting bases forms one side of this equilateral triangle. The mounting base has an upwardly inclined surface. The sliding mechanism is located on the upwardly inclined surface. The linkage mechanism is hinged between the upper platform and the sliding mechanism. The sliding mechanism is used to drive the lower end of the linkage mechanism along the length of the upwardly inclined surface. The linkage mechanism moves back and forth to adjust its tilt. In the two sets of mounting bases on one side of the equilateral triangle, the two upper inclined surfaces face each other and are mirror-symmetrical. The linkage mechanism includes an upper hinge seat, an upper rod, a lower rod, and a lower hinge seat. One end of the upper rod is hinged to the upper platform via the upper hinge seat, and one end of the lower rod is hinged to the sliding mechanism via the lower hinge seat. The upper and lower rods are coaxially rotatably connected to give the linkage mechanism one degree of rotational freedom.

[0008] Preferably, the sliding mechanism includes a driving component and a moving component, the driving component being used to drive the moving component to reciprocate along the length direction of the upper inclined surface, and the lower hinge seat being mounted on the moving component.

[0009] Preferably, the drive assembly includes a motor and a reciprocating lead screw. A mounting plate is vertically provided at the top of the upper inclined surface. The motor is mounted on the mounting plate, and the reciprocating lead screw is coaxially mounted on the output shaft of the motor, with the extension direction of the reciprocating lead screw consistent with the length direction of the upper inclined surface. The moving assembly includes a moving seat, a slider, and a lead screw nut. The slider is located below the moving seat, and the lead screw nut passes through the moving seat and is threadedly connected to the reciprocating lead screw. A slide rail is provided along the length direction of the upper inclined surface, and the slider slides in cooperation with the slide rail.

[0010] Preferably, baffles are provided on both sides of the upper inclined surface and on both sides of the slide rail along its length. The reciprocating screw is rotatably connected to the two baffles respectively, and the baffles are used to limit the movement range of the moving seat.

[0011] Preferably, the inner surface of the baffle is provided with a buffer pad, and the buffer pad is directly opposite the end wall of the movable seat along the length of the slide rail.

[0012] Preferably, the mounting base is further provided with a drive auxiliary component, which includes a first roller, a second roller, a third roller, and a rubber rope. The first roller is provided on both sides of the movable seat, and the length direction of the first roller is perpendicular to the length direction of the upper inclined surface. The second roller is provided on the side wall of the mounting base near the lowest end of the upper inclined surface, and the third roller is provided on the side wall of the mounting base near the highest end of the upper inclined surface. The second roller and the third roller are parallel to the first roller. The rubber rope is tightly wound around the first roller, the second roller, and the third roller so that when the movable seat reciprocates within its own range of motion, the rubber rope always has an elastic tension applied to the movable seat.

[0013] Preferably, the upper rod and the lower rod are rotatably connected by a rotating bearing. The lower rod has a rotating groove at its end, and the rotating bearing is interference-fitted into the rotating groove. A rotating rod is coaxially mounted at the lower end of the upper rod, and the rotating rod is interference-fitted with the inner ring of the rotating bearing. A rotating oil replenishment mechanism is provided at the connection between the upper and lower rods. This mechanism automatically replenishes lubricating oil to the friction parts of the rotating bearing when the upper and lower rods rotate relative to each other. The rotating oil replenishment mechanism includes a bracket, a first oil storage assembly, a rotating compression assembly, and a second oil storage assembly. The bracket is mounted on the outer wall of the lower rod. The first and second oil storage assemblies are both mounted on the bracket. The rotating compression assembly is located between the bracket and the outer wall of the upper rod. When the upper and lower rods rotate relative to each other, the rotating compression assembly gradually applies pressure to the first oil storage assembly, causing some of the lubricating oil in the first oil storage assembly to enter the friction parts of the rotating bearing. The second oil storage assembly collects excess lubricating oil overflowing from the friction parts of the rotating bearing.

[0014] Preferably, the outer diameter of the upper rod is larger than the outer diameter of the lower rod, and the end edge of the upper rod is provided with an annular barrier, which circumferentially covers the rotating rod and the rotating bearing, and an insertion gap is formed between the annular barrier and the outer peripheral wall of the lower rod.

[0015] Preferably, the rotating extrusion assembly includes a pushing part, an abutting part, and a torsion spring. The pushing part has a first pushing surface, a second pushing surface, and a third pushing surface that are smoothly connected in sequence. The first and third pushing surfaces are mirror-symmetrically arranged on both sides of the second pushing surface. Both the first and third pushing surfaces are inclined surfaces, and the second pushing surface is an arc surface. The abutting part is hinged to the bracket, and the torsion spring is located at the hinge point between the abutting part and the bracket. The torsion spring always maintains the abutting part in a position parallel to the length direction of the lower rod. The abutting part has an extrusion surface and an abutting surface that are opposite to each other. The extrusion surface is used to contact the first oil storage assembly, and the abutting surface is an arc surface. Both the first and third pushing surfaces are separated from the abutting surface in the outer circumferential direction of the lower rod. The second pushing surface and the abutting surface have overlapping portions in the outer circumferential direction of the lower rod, so that when the upper and lower rods rotate relative to each other, the second pushing surface can abut against the abutting surface, thereby causing the extrusion surface to move closer to the first oil storage assembly.

[0016] Preferably, the first oil storage assembly includes a limiting frame, an elastic rubber bladder, a flexible tube, and a rigid injection pipe. The limiting frame is located on the side of the bracket away from the lower rod, and the limiting frame and the pushing part form a limiting space to accommodate the elastic rubber bladder. The elastic rubber bladder is integrally provided with an injection rigid tube, and a sealing cap is detachably provided on the injection rigid tube. One end of the flexible tube is connected to the bottom of the elastic rubber bladder, and the other end extends to the upper end face of the lower rod after passing through an insertion gap. The rigid injection pipe is located on the upper end face of the rod and is connected to the lower rod. The flexible tube is connected, and the hard nozzle faces the friction part of the rotating bearing; the second oil storage assembly includes a positioning frame, a return oil tank and a return oil pipe. The positioning frame is set on the bracket, and the return oil tank is embedded in the positioning frame. The lower rod body is provided with a temporary oil storage tank and a return channel. The temporary oil storage tank is connected to the lower part of the rotating groove. The upstream end of the return channel is connected to the temporary oil storage tank. The low end of the return oil pipe is connected to the top end of the return oil tank, and the high end is connected to the downstream end of the return channel.

[0017] The present invention has the following advantages and beneficial effects:

[0018] 1. This invention employs a sliding mechanism to drive six fixed-length links, thereby achieving flexible six-degree-of-freedom motion. This design cleverly combines link assemblies, sliding mechanism groups, and ramp structures, enabling the robot to achieve a greater angle adjustment range and displacement capability than traditional parallel robots within limited stroke and size constraints, breaking through the bottlenecks of existing technologies. Furthermore, to further optimize device performance, this invention also employs an auxiliary pulling mechanism to balance part of the load weight, thereby reducing the burden on the actuators. This not only reduces the motor power requirement and effectively shrinks the device's size but also improves the overall energy efficiency and operational stability while reducing manufacturing costs. More importantly, this design greatly simplifies the device's structure, making it more convenient to install, disassemble, and transport, thus enhancing the flexibility of practical applications. In summary, this invention, through a novel driving method and structural design, significantly improves the motion capability of a six-degree-of-freedom parallel robot without increasing the device's size, providing a more efficient, economical, and easier-to-operate technical solution for flight simulation and other high-precision motion control fields.

[0019] 2. This invention employs a drive auxiliary component, which consists of a first roller, a second roller, a third roller, and a rubber rope. Through a reasonable winding method, the rubber rope remains taut throughout the reciprocating motion of the moving seat, thus consistently applying elastic tension. This elastic tension can, to some extent, offset the load required by the motor, reducing motor power demand and minimizing energy consumption increases due to high loads. Furthermore, the taut rubber rope helps optimize the moving seat's trajectory, reducing vibrations caused by inertia or external disturbances, thereby improving the smoothness and continuity of the sliding mechanism's operation. This allows the parallel robot to execute motion commands more accurately during experimental simulations. This design not only improves equipment operating efficiency but also reduces energy consumption to some extent, enhancing the overall reliability and lifespan of the parallel robot.

[0020] 3. This invention, by incorporating a rotating lubrication mechanism, achieves automatic lubrication replenishment when the upper and lower rods rotate relative to each other, avoiding the tedious manual lubrication required for traditional robot rotating bearings. Specifically, the first oil storage component in the rotating lubrication mechanism uses an elastic rubber bladder to store lubricating oil. Through the combined action of the pushing part, the abutting part, and the torsion spring, the rubber bladder is naturally compressed during the rotation of the upper rod, ensuring that the lubricating oil is stably delivered to the friction points of the rotating bearing. This ensures the bearing is always in a good lubrication state, thereby reducing frictional resistance, minimizing wear, and effectively preventing overheating caused by high-frequency rotation. Simultaneously, the design of the second oil storage component allows excess lubricating oil to be recycled and reused, further improving lubricating oil utilization efficiency, reducing waste, enabling the parallel robot to maintain good stability during long-term operation, and effectively extending the service life of the rotating bearing. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a structural schematic diagram of an embodiment of this application;

[0023] Figure 2 This is a top view of an embodiment of this application;

[0024] Figure 3 This is a partial connection diagram of the linkage mechanism, sliding mechanism and mounting base used in the embodiments of this application;

[0025] Figure 4 This is a partial connection diagram of the sliding mechanism and the mounting base used in the embodiments of this application. Figure 1 ;

[0026] Figure 5 This is a partial connection diagram of the sliding mechanism and the mounting base used in the embodiments of this application. Figure 2 ;

[0027] Figure 6 This is a partial connection diagram of the upper rod, lower rod, and rotating oil replenishment mechanism in an embodiment of this application;

[0028] Figure 7 This is a partial sectional view used in the embodiments of this application to show the upper rod, lower rod, and rotating oil replenishment mechanism;

[0029] Figure 8This is a schematic diagram illustrating the connection state of the ring-shaped enclosure, the pushing part, and the abutting part in an embodiment of this application.

[0030] The diagram is marked as follows:

[0031] 100. Upper platform; 200. Linkage mechanism; 210. Upper hinge seat; 220. Upper rod body; 221. Rotating rod; 222. Annular enclosure; 223. Insertion gap; 230. Lower rod body; 231. Rotating groove; 232. Temporary oil storage tank; 233. Return channel; 240. Lower hinge seat; 300. Sliding mechanism; 310. Drive assembly; 311. Motor; 312. Reciprocating screw; 320. Moving assembly; 321. Moving seat; 322. Slider; 323. Screw nut; 400. Mounting base; 410. Upper inclined surface; 420. Mounting plate; 430. Slide rail; 440. Baffle; 441. Buffer pad; 500. Drive auxiliary assembly; 510. First roller body 520. Second roller; 530. Third roller; 540. Rubber rope; 600. Rotary bearing; 700. Rotary oil replenishment mechanism; 710. Support; 720. First oil storage assembly; 721. Limiting frame; 722. Elastic rubber bladder; 7221. Filling rigid pipe; 7222. Sealing cap; 723. Flexible pipe; 724. Rigid spray pipe; 730. Rotary extrusion assembly; 731. Pushing part; 7311. First pushing surface; 7312. Second pushing surface; 7313. Third pushing surface; 732. Abutting part; 7321. Extrusion surface; 7322. Abutting surface; 733. Torsion spring; 740. Second oil storage assembly; 741. Positioning frame; 742. Oil return tank; 743. Oil return pipe. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0033] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0034] In related technologies, during the testing phase of flight simulation experiments, a six-degree-of-freedom parallel robot is typically used as the bottom platform of a flight model, with the flight model mounted on top. The robot then uses its own motion to simulate the flight data parameters of the flight model after adjustments to different attitudes.

[0035] However, existing six-DOF parallel robots primarily rely on increasing the stroke of the actuators to achieve large-angle or large-displacement movements. This involves extending the length of the drive rods or telescopic components to improve the system's static parameters, such as angular range or linear displacement range. While this approach can enhance the device's motion capabilities to some extent, it also introduces numerous problems.

[0036] First, as the travel distance increases, the overall size of the equipment will inevitably increase, which not only leads to a significant increase in manufacturing costs and processing difficulty, but also places higher demands on the installation, placement and operating environment of the equipment, especially its application in confined spaces is greatly restricted.

[0037] Furthermore, the increased size makes transportation, disassembly, and maintenance more complex, increasing workload and operating costs, thus reducing the equipment's flexibility and practicality. More importantly, due to the inherent structural characteristics of parallel mechanisms, simply increasing the stroke of the actuator will reach a bottleneck after a certain point, meaning that the motion capability cannot be further improved.

[0038] This is mainly because excessive length of the actuator can cause mechanical interference. To avoid interference, the size of the distribution circles at the top and bottom ends also needs to be increased accordingly. However, the increase in the size of the distribution circles is not unlimited. When the distribution circles are too large, the overall mobility of the mechanism will be restricted, and it may even be impossible to achieve the required large range of motion.

[0039] Therefore, achieving greater motion capabilities within a limited space and overcoming the dependence of existing six-DOF parallel robots on the length of actuators and the size of the distribution circle has become a crucial technical challenge that urgently needs to be addressed in this field. This challenge not only relates to the accuracy of flight simulation tests but also directly affects the application potential of six-DOF parallel robots in other high-precision motion scenarios, such as aerospace, automotive driving simulation, and ship attitude simulation. Therefore, how to improve the motion capabilities of six-DOF parallel robots without significantly increasing equipment size, especially how to balance large-scale attitude adjustment and high-precision motion control within a limited structural space, has become a core challenge facing current technological development.

[0040] In view of this, some embodiments of this application provide a parallel robot for experimental simulation. Unlike traditional six-degree-of-freedom parallel robots that rely on electric cylinders, hydraulic cylinders, or pneumatic cylinders as actuators, this parallel robot uses a sliding mechanism to drive six fixed-length linkages, thereby achieving flexible six-degree-of-freedom motion. The parallel robot's design cleverly combines linkages, sliding mechanisms, and the inclined surface of the mounting base, enabling the robot to achieve a greater angle adjustment range and displacement capability than traditional parallel robots within limited stroke and size constraints, breaking through the bottlenecks of existing technologies. More importantly, this design greatly simplifies the device's structure, making installation, disassembly, and transportation more convenient and improving the flexibility of practical applications. In summary, this invention, through a novel driving method and structural design, significantly improves the motion capability of a six-degree-of-freedom parallel robot without increasing the device's size, providing a more efficient, economical, and easier-to-operate technical solution for flight simulation and other high-precision motion control fields.

[0041] Please see Figures 1 to 8 In some embodiments, a parallel robot for experimental simulation includes an upper platform 100, a linkage mechanism 200, a sliding mechanism 300, and a mounting base 400. The mounting base 400 is provided in six groups below the upper platform 100, and the six groups of mounting bases 400 form an equilateral triangle directly below the upper platform 100. Each pair of mounting bases 400 forms one side of the equilateral triangle. The mounting base 400 has an upper inclined surface 410. The sliding mechanism 300 is disposed on the upper inclined surface 410. The linkage mechanism 200 is hinged between the upper platform 100 and the sliding mechanism 300. The sliding mechanism 300 is used to drive the lower end of the linkage mechanism 200 to reciprocate along the length direction of the upper inclined surface 410 to adjust the inclination degree of the linkage mechanism 200 accordingly.

[0042] For example, in combination Figure 1 , Figure 2 as well as Figure 3 In the two sets of mounting bases 400 on one side of an equilateral triangle, the two upper inclined surfaces 410 are arranged facing each other and mirror-symmetrically. Furthermore, with the horizontal ground as the reference plane, the inclination angle of the upper inclined surface 410 is 30°~45°.

[0043] For example, in combination Figure 1 , Figure 2 as well as Figure 3The linkage mechanism 200 includes an upper hinge seat 210, an upper rod 220, a lower rod 230, and a lower hinge seat 240. One end of the upper rod 220 is hinged to the upper platform 100 via the upper hinge seat 210, and one end of the lower rod 230 is hinged to the sliding mechanism 300 via the lower hinge seat 240. The upper rod 220 and the lower rod 230 are coaxially rotatably connected, so that the linkage mechanism 200 has one degree of rotational freedom. Furthermore, the upper rods 220 on the two linkage mechanisms 200 near the included angle of the equilateral triangle share an upper hinge seat 210.

[0044] Based on this, through the cooperation of the linkage mechanism 200, the sliding mechanism 300, and the upper inclined surface 410, six degrees of freedom of motion is achieved, providing a large angle and displacement adjustment capability within a limited structural size and stroke range. The mounting bases 400 are arranged below the upper platform 100, with six sets of mounting bases 400 forming an equilateral triangle distribution, making the entire robot structure more balanced in terms of force and improving overall motion stability. Each pair of mounting bases 400 together form one side of the equilateral triangle, and each mounting base 400 is provided with an upper inclined surface 410. The sliding mechanism 300 is arranged along the upper inclined surface 410 and can reciprocate on it, thereby driving the lower end of the linkage mechanism 200 to move accordingly. One end of the linkage mechanism 200 is hinged to the upper platform 100 via the upper hinge seat 210, and the other end is connected to the sliding mechanism 300 via the lower hinge seat 240. The upper rod 220 and the lower rod 230 are connected by coaxial rotation to ensure that the linkage mechanism 200 has one degree of rotational freedom. The movement of the sliding mechanism 300 is along the upper inclined surface 410, causing the lower end of the linkage mechanism 200 to be displaced in the longitudinal direction, thereby changing the tilt angle of the linkage mechanism 200 and ultimately adjusting the posture of the upper platform 100. In particular, on one side of the equilateral triangle, the upper inclined surfaces 410 of the two sets of mounting bases 400 face each other and are arranged in a mirror symmetric manner. The advantage of this design is that the corresponding sliding mechanisms 300 and linkage mechanisms 200 on the two upper inclined surfaces 410 can achieve a greater positional adjustment capability within a smaller space, thereby enhancing the adjustability of the upper platform 100 and improving the overall flexibility of the robot.

[0045] In this structure, the sliding mechanism 300 slides along the upper inclined surface 410, making the angle adjustment process of the linkage mechanism 200 smoother. This helps reduce the impact of instantaneous impact forces on the entire robot structure. Furthermore, by adjusting the tilt angle of the upper inclined surface 410 and the stroke of the sliding mechanism 300, the robot's motion performance can be further optimized. In addition, this design eliminates traditional electric cylinder, hydraulic cylinder, or pneumatic cylinder drive methods, avoiding the overall size increase caused by increased actuator stroke. This allows the robot to maintain high motion performance even in space-constrained environments and reduces manufacturing and maintenance costs to some extent.

[0046] In summary, this invention, through its innovative mechanism design, enables a large range of motion adjustment under limited space conditions, making it suitable for high-precision attitude adjustment scenarios such as flight simulation. It can overcome, to some extent, the problems of existing six-degree-of-freedom parallel robots in terms of limited range of motion, large size, and complex structure.

[0047] In some implementations, such as Figures 2-5 As shown, the sliding mechanism 300 includes a drive component 310 and a moving component 320. The drive component 310 drives the moving component 320 to reciprocate along the length direction of the upper inclined surface 410, and the lower hinge seat 240 is mounted on the moving component 320. This allows for more efficient adjustment of the position of the linkage mechanism 200, thereby achieving adjustment of the attitude and orientation of the upper platform 100.

[0048] For example, the drive assembly 310 includes a motor 311 and a reciprocating lead screw 312. A mounting plate 420 is vertically provided at the top of the upper inclined surface 410. The motor 311 is mounted on the mounting plate 420, and the reciprocating lead screw 312 is coaxially mounted on the output shaft of the motor 311, so that the rotational motion of the motor 311 can be directly transmitted to the lead screw. Furthermore, the extension direction of the reciprocating lead screw 312 is consistent with the length direction of the upper inclined surface 410, so as to ensure that the motion path of the sliding mechanism 300 conforms to the expected adjustment direction. For example, the motor 311 is configured as a servo type or a reciprocating type.

[0049] For example, the moving assembly 320 includes a moving base 321, a slider 322, and a lead screw nut 323. The slider 322 is located below the moving base 321, and the lead screw nut 323 passes through the moving base 321 and is threadedly connected to the reciprocating lead screw 312. When the motor 311 drives the reciprocating lead screw 312 to rotate, the lead screw nut 323 is driven, thereby causing the moving base 321 to move along the axial direction of the lead screw. Furthermore, in order to improve the motion stability of the moving assembly 320, the upper inclined surface 410 is provided with a slide rail 430 along its own length direction. The slider 322 slides with the slide rail 430 to play a guiding and supporting role, thereby keeping the moving base 321 stable during movement and reducing the deviation or jamming caused by lateral forces. For example, the slider 322 is configured as a dovetail block or a T-block, and the slide rail 430 is provided with a corresponding dovetail groove or T-groove, so that the slider 322 can move stably in the length direction of the slide rail 430.

[0050] Based on this, when it is necessary to adjust the attitude and orientation of the upper platform 100, simply start the motor 311. The motor 311 will drive the reciprocating screw 312 to rotate, which in turn drives the screw nut 323 to move the movable seat 321 along the slide rail 430. Since the lower hinge seat 240 is installed on the movable seat 321, the lower end of the linkage mechanism 200 will change position accordingly, thereby causing a change in the tilt angle of the linkage mechanism 200, and ultimately adjusting the attitude of the upper platform 100. In summary, precise control is achieved through the drive of the motor 311, which can improve the flexibility and accuracy of the attitude adjustment of the upper platform 100 to a certain extent. At the same time, the guide structure of the slide rail 430 reduces offset and improves the stability of movement, making the overall system more efficient and reliable during the adjustment process.

[0051] In some implementations, combined with Figure 3 , Figure 4 as well as Figure 5 On the inclined surface 410, baffles 440 are respectively provided on both sides along the length of the slide rail 430. The reciprocating screw 312 is rotatably connected to the two baffles 440 respectively. The baffles 440 are used to limit the movement range of the moving seat 321. By setting the baffles 440, the movement range of the moving seat 321 on the slide rail 430 is limited, which to a certain extent prevents the moving seat 321 from sliding off the slide rail 430 and causing equipment damage.

[0052] In some implementations, combined with Figure 4 , Figure 5The inner surface of the baffle 440 is provided with a buffer pad 441, which is directly opposite the end wall of the movable seat 321 along the length of the slide rail 430. For example, the buffer pad 441 is configured to be made of sponge or rubber, which can reduce the impact force through its own cushioning effect and reduce the probability of the movable seat 321 being damaged by impact.

[0053] In some implementations, combined with Figure 3 , Figure 4 as well as Figure 5 The mounting base 400 is also provided with a drive auxiliary component 500, which includes a first roller 510, a second roller 520, a third roller 530 and a rubber rope 540. The first roller 510 is provided on both sides of the movable seat 321, and the length direction of the first roller 510 is perpendicular to the length direction of the upper inclined surface 410.

[0054] For example, the second roller 520 is disposed on the side wall of the mounting base 400 near the lowest end of the upper inclined surface 410, and the third roller 530 is disposed on the side wall of the mounting base 400 near the highest end of the upper inclined surface 410, and both the second roller 520 and the third roller 530 are parallel to the first roller 510.

[0055] For example, the rubber cord 540 is tightly wound around the first roller 510, the second roller 520, and the third roller 530 so that when the movable seat 321 reciprocates within its own range of motion, the rubber cord 540 always has an elastic tension applied to the movable seat 321. For example, the rubber cord 540 is first wound around the first roller 510, then extends and wraps around the third roller 530 before extending and winding around the second roller 520, then extends and wraps around the third roller 530 before winding around the first roller 510 again, and so on, to keep the rubber cord 540 taut at all times.

[0056] This winding method keeps the rubber rope 540 taut at all times. Whether the movable seat 321 is at its highest or lowest point on the slide rail 430, the rubber rope 540 applies an elastic tension, thus mitigating the effects of the movable seat 321's own weight and other loads to some extent. An important benefit of this structural design is that, during the reciprocating movement of the movable seat 321 along the slide rail 430 driven by the motor 311, the rubber rope 540 provides continuous auxiliary tension, reducing the power required for the motor 311 and making the entire sliding mechanism 300 more energy-efficient during operation. Furthermore, the elastic tension of the rubber rope 540 makes the movable seat 321 more stable when changing its direction of movement, reducing the impact caused by inertia, improving the smoothness of the sliding mechanism 300's operation, reducing vibration, and extending the overall service life of the equipment. Through this structural optimization, the parallel robot of this invention can achieve more efficient power systems while maintaining precise adjustment capabilities, and improve the overall system's motion stability and reliability.

[0057] In some implementations, combined with Figure 6 , Figure 7 as well as Figure 8 The upper rod 220 and the lower rod 230 are rotatably connected by a rotating bearing 600. The lower rod 230 has a rotating groove 231 at its end, and the rotating bearing 600 is interference-fitted into the rotating groove 231. The lower end of the upper rod 220 is coaxially provided with a rotating rod 221, which is interference-fitted with the inner ring of the rotating bearing 600, so that the upper rod 220 and the lower rod 230 can rotate relative to each other around the rotating bearing 600 to meet the angle change requirements of the parallel robot when adjusting the position of the upper platform 100.

[0058] For example, in order to optimize the lubrication performance of the rotating parts of the linkage mechanism 200 during frequent movement and reduce the need for manual maintenance, a rotational oil replenishment mechanism 700 is provided at the connection between the upper rod 220 and the lower rod 230. The rotational oil replenishment mechanism 700 is used to automatically replenish lubricating oil to the friction parts of the rotating bearing 600 when the upper rod 220 and the lower rod 230 rotate relative to each other, so as to maintain a stable lubrication effect, reduce the heat accumulation and wear caused by friction, and thus improve the service life of the rotating bearing 600. Further, the rotational oil replenishment mechanism 700 includes a bracket 710, a first oil storage component 720, a rotational compression component 730, and a second oil storage component 740. The bracket 710 is installed on the outer wall of the lower rod 230, the first oil storage component 720 and the second oil storage component 740 are both provided on the bracket 710, and the rotational compression component 730 is provided between the bracket 710 and the outer wall of the upper rod 220. Furthermore, two sets of rotating oil replenishing mechanisms 700 are symmetrically arranged on the outer periphery of the upper rod 220 and the lower rod 230, thereby improving the oil replenishing effect.

[0059] For example, when the upper rod 220 and the lower rod 230 rotate relative to each other, the rotating compression assembly 730 gradually applies a compressive force to the first oil storage assembly 720 so that some of the lubricating oil in the first oil storage assembly 720 enters the friction part of the rotating bearing 600. The second oil storage assembly 740 is used to collect the excess lubricating oil overflowing from the friction part of the rotating bearing 600, so as to improve the utilization rate of lubricating oil and reduce waste.

[0060] Based on this, during the relative rotation of the upper rod 220 and the lower rod 230, the rotating compression component 730 is compressed, thereby applying pressure to the first oil storage component 720. This causes the stored lubricating oil to be gradually released and enter the friction parts of the rotating bearing 600, serving both lubrication and heat dissipation purposes. Simultaneously, excess lubricating oil overflowing from the friction parts of the rotating bearing 600 can flow back to the second oil storage component 740 along the structural design, facilitating subsequent recycling. This lubrication method has several advantages: First, since lubricating oil replenishment is automatic with the rotation of the upper rod 220 and the lower rod 230, frequent manual lubrication is unnecessary, reducing maintenance workload and improving the working efficiency of the parallel robot. Second, because the lubricating oil can be evenly distributed inside the bearing, the friction force is more uniform during rotation, which can reduce local overheating to a certain extent, thereby extending the service life of the rotating bearing 600. Furthermore, the overflowing lubricating oil can be recycled and reused through the second oil storage component 740, reducing lubricating oil waste and lowering the long-term operating costs of the equipment.

[0061] In summary, by setting an automatic lubrication mechanism at the rotating connection of the linkage mechanism 200, the present invention enables the parallel robot to maintain good lubrication under high-frequency motion conditions, thereby improving the stability and durability of the equipment, reducing the need for manual maintenance, and enhancing the overall level of automation.

[0062] In some implementations, combined with Figure 6 , Figure 7 as well as Figure 8 The outer diameter of the upper rod 220 is larger than that of the lower rod 230, and an annular barrier 222 is provided at the end edge of the upper rod 220. The annular barrier 222 circumferentially covers the rotating rod 221 and the rotating bearing 600 to a certain extent prevent external contaminants (such as dust particles or debris) from entering the rotating bearing 600. Furthermore, an insertion gap 223 is formed between the annular barrier 222 and the outer peripheral wall of the lower rod 230. For example, the insertion gap 223 includes a vertical gap and a horizontal gap to a certain extent prevent interference between the upper rod 220 and the lower rod 230 when they rotate relative to each other.

[0063] In some implementations, reference is made to Figure 6 , Figure 7 as well as Figure 8 The rotating extrusion assembly 730 includes a pushing part 731, an abutting part 732, and a torsion spring 733. The pushing part 731 has a first pushing surface 7311, a second pushing surface 7312, and a third pushing surface 7313 that are smoothly connected in sequence. The first pushing surface 7311 and the third pushing surface 7313 are mirror-symmetrically arranged on both sides of the second pushing surface 7312. The first pushing surface 7311 and the third pushing surface 7313 are both inclined surfaces, and the second pushing surface 7312 is an arc surface.

[0064] For example, the abutment portion 732 is hinged to the bracket 710, and the torsion spring 733 is provided at the hinge portion between the abutment portion 732 and the bracket 710. The torsion spring 733 always has the function of keeping the abutment portion 732 in a position parallel to the length direction of the lower rod 230.

[0065] For example, the abutment portion 732 has a pressing surface 7321 and an abutment surface 7322 that are opposite to each other. The pressing surface 7321 is used to contact the first oil storage component 720. The abutment surface 7322 is an arc surface. The first pushing surface 7311 and the third pushing surface 7313 are both separated from the abutment surface 7322 in the outer peripheral direction of the lower rod body 230. The second pushing surface 7312 and the abutment surface 7322 have an overlapping portion in the outer peripheral direction of the lower rod body 230, so that when the upper rod body 220 and the lower rod body 230 rotate relative to each other, the second pushing surface 7312 can abut against the abutment surface 7322, thereby causing the pressing surface 7321 to move closer to the first oil storage component 720.

[0066] For example, in the outer peripheral direction of the lower rod body 230, the closer the first pushing surface 7311 is to the second pushing surface 7312, the closer the first pushing surface 7311 is to the pushing part 731; similarly, in the outer peripheral direction of the lower rod body 230, the closer the third pushing surface 7313 is to the second pushing surface 7312, the closer the third pushing surface 7313 is to the pushing part 731.

[0067] Based on this, when the upper rod 220 rotates relative to the lower rod 230, the pushing part 731 also rotates accordingly. During this process, the first pushing surface 7311 or the third pushing surface 7313 will first contact the abutment surface 7322, and gradually guide the second pushing surface 7312 to smoothly fit with the abutment surface 7322 of the abutment part 732. Due to the transition relationship between the pushing surfaces, this process is relatively smooth and less prone to abrupt impacts. This design allows the pushing part 731 to apply an external pushing force to the abutment part 732 after the second pushing surface 7312 gradually enters the contact range of the abutment surface 7322, causing the abutment part 732 to rotate around its hinge point and gradually apply pressure to the first oil reservoir 720. During this process, the lubricating oil inside the first oil reservoir 720 is squeezed by external force, thereby entering the friction part of the rotating bearing 600, realizing the function of automatically replenishing lubricating oil. Furthermore, since the second pushing surface 7312 and the abutting surface 7322 overlap in the outer circumferential direction of the lower rod 230, when the upper rod 220 rotates, the circumferential displacement of the pushing part 731 stably drives the abutting part 732 outward. This gradual pushing method avoids the problem of lubricating oil release being too fast or too slow, making the lubrication process more uniform. At the same time, under the action of the torsion spring 733, the abutting part 732 can return to its initial position after the external force is released, ensuring that the entire mechanism can repeatedly perform the lubricating oil release action during each rotation of the upper rod 220, thereby maintaining a stable lubrication effect for a long time. Moreover, during the resetting process of the abutting part 732 under the action of the torsion spring 733, the first pushing surface 7311 and the third pushing surface 7313 can effectively buffer the resetting of the abutting part 732, so that the abutting part 732 resets slowly under the action of the torsion spring 733, thereby avoiding the impact of the abutting part 732 on the annular barrier 222 by rapid resetting to a certain extent.

[0068] In summary, by designing the rotating extrusion component 730, this invention makes the replenishment of lubricating oil more intelligent and controllable, which to a certain extent improves the service life of the rotating bearing 600, while reducing the frequency of manual maintenance, enabling the parallel robot to operate continuously and stably during the experimental simulation process.

[0069] In some implementations, combined with Figure 6 , Figure 7The first oil storage assembly 720 includes a limiting frame 721, an elastic rubber bladder 722, a flexible tube 723, and a rigid nozzle 724. The limiting frame 721 is located on the side of the bracket 710 away from the lower rod 230, and the limiting frame 721 and the pushing part 731 form a limiting space to accommodate the elastic rubber bladder 722. The elastic rubber bladder 722 is integrally provided with a filling rigid tube 7221, and a sealing cap 7222 is detachably provided on the filling rigid tube 7221. One end of the flexible tube 723 is connected to the bottom of the elastic rubber bladder 722, and the other end extends to the upper end face of the lower rod 230 after passing through the insertion gap 223. The rigid nozzle 724 is located on the upper end face of the rod and is connected to the flexible tube 723. The rigid nozzle 724 faces the friction part of the rotating bearing 600. For example, the pressing surface 7321 of the abutment part 732 is in contact with the outer surface of the elastic rubber bladder 722.

[0070] For example, the second oil storage assembly 740 includes a positioning frame 741, an oil return tank 742, and an oil return pipe 743. The positioning frame 741 is mounted on the bracket 710, and the oil return tank 742 is embedded in the positioning frame 741. The lower rod body 230 is provided with a temporary oil storage tank 232 and a return channel 233. The temporary oil storage tank 232 is connected to the lower part of the rotating groove 231. The upstream end of the return channel 233 is connected to the temporary oil storage tank 232. The lower end of the oil return pipe 743 is connected to the top end of the oil return tank 742, and the upper end is connected to the downstream end of the return channel 233. For example, the temporary oil storage tank 232 is an annular groove, and the width of the upper opening of the temporary oil storage tank 232 is greater than the width of the friction part of the rotating bearing 600. This ensures that excess lubricating oil from the friction part of the rotating bearing 600 can smoothly enter the temporary oil storage tank 232.

[0071] Based on this, in order to achieve automatic supply and recovery of lubricating oil, improve the utilization efficiency of the lubrication system, and reduce lubricating oil waste, a lubricating oil circulation system composed of a first oil storage component 720 and a second oil storage component 740 was specially designed. The first oil storage component 720 is used to store and supply lubricating oil, while the second oil storage component 740 is used to collect and recover lubricating oil, thereby enabling the lubricating oil to be recycled, reducing maintenance workload, and improving the operational stability of the parallel robot.

[0072] Specifically, when the upper rod 220 rotates relative to the lower rod 230, the pushing part 731 gradually drives the abutting part 732 to change its angle, thereby causing the extrusion surface 7321 of the abutting part 732 to apply external extrusion force to the elastic rubber bladder 722. Since the elastic rubber bladder 722 has a closed structure, under the action of external extrusion force, the lubricating oil inside is compressed and stably delivered to the friction part of the rotating bearing 600 through the connecting path of the flexible tube 723 and the hard spray tube 724, thereby effectively reducing the frictional resistance of the bearing and reducing overheating caused by high-frequency rotation.

[0073] Furthermore, to improve the utilization rate of lubricating oil and reduce its consumption, this invention also includes a second oil storage component 740. When lubricating oil enters the friction area of ​​the rotating bearing 600, some of it adheres to the surface of the friction area, forming a lubricating film. Excess lubricating oil, under gravity, flows along the rotating bearing 600 into the temporary oil storage tank 232, and then through the return channel 233 to the return oil pipe 743, before entering the return oil tank 742 for storage. This lubricating oil circulation system design ensures that the lubricating oil is fully utilized throughout the operation of the parallel robot, improving its efficiency and reducing unnecessary waste. Simultaneously, since the lubricating oil recovery process relies primarily on gravity and fluid dynamics principles, no additional power equipment is required, thus reducing system complexity and energy consumption.

[0074] In summary, the present invention, through the cooperation of the first oil storage component 720 and the second oil storage component 740, enables the lubrication system to have the functions of automatic oil supply, oil return and recycling, which reduces the need for manual maintenance to a certain extent, improves the reliability of the lubrication system, extends the service life of the rotating bearing 600, and enables the parallel robot to have better stability during long-term operation.

[0075] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A parallel robot for experimental simulation, characterized in that, The system includes an upper platform (100), a linkage mechanism (200), a sliding mechanism (300), and a mounting base (400). Six sets of mounting bases (400) are located below the upper platform (100), forming an equilateral triangle directly below the upper platform (100). Each pair of mounting bases (400) forms one side of this equilateral triangle. Each mounting base (400) has an upper inclined surface (410). The sliding mechanism (300) is located on the upper inclined surface (410). The linkage mechanism (200) is hinged between the upper platform (100) and the sliding mechanism (300). The sliding mechanism (300) drives the lower end of the linkage mechanism (200) to reciprocate along the length of the upper inclined surface (410) to adjust the inclination of the linkage mechanism (200). In the two sets of mounting bases (400) on one side of an equilateral triangle, the two upper inclined surfaces (410) face each other and are mirror symmetrical; The linkage mechanism (200) includes an upper hinge seat (210), an upper rod body (220), a lower rod body (230), and a lower hinge seat (240). One end of the upper rod body (220) is hinged to the upper platform (100) through the upper hinge seat (210), and one end of the lower rod body (230) is hinged to the sliding mechanism (300) through the lower hinge seat (240). The upper rod body (220) and the lower rod body (230) are coaxially rotatably connected so that the linkage mechanism (200) has one degree of rotational freedom. The upper rod body (220) and the lower rod body (230) are rotatably connected by a rotating bearing (600). The lower rod body (230) has a rotating groove (231) at its end. The rotating bearing (600) is interference-fitted into the rotating groove (231). The lower end of the upper rod body (220) is coaxially provided with a rotating rod (221). The rotating rod (221) is interference-fitted with the inner ring of the rotating bearing (600). A rotary oil replenishing mechanism (700) is provided at the connection between the upper rod (220) and the lower rod (230). The rotary oil replenishing mechanism (700) is used to automatically replenish lubricating oil to the friction part of the rotary bearing (600) when the upper rod (220) and the lower rod (230) rotate relative to each other. The rotating oil replenishment mechanism (700) includes a bracket (710), a first oil storage assembly (720), a rotating extrusion assembly (730), and a second oil storage assembly (740). The bracket (710) is mounted on the outer wall of the lower rod (230). The first oil storage assembly (720) and the second oil storage assembly (740) are both located on the bracket (710). The rotating extrusion assembly (730) is located between the bracket (710) and the outer wall of the upper rod (220). When the upper rod (220) and the lower rod (230) rotate relative to each other, the rotating compression assembly (730) gradually applies a compression force to the first oil storage assembly (720) so that some of the lubricating oil in the first oil storage assembly (720) enters the friction part of the rotating bearing (600), and the second oil storage assembly (740) is used to collect excess lubricating oil overflowing from the friction part of the rotating bearing (600); The rotating compression assembly (730) includes a pushing part (731), an abutting part (732), and a torsion spring (733), wherein, The pushing part (731) has a first pushing surface (7311), a second pushing surface (7312) and a third pushing surface (7313) that are smoothly connected in sequence. The first pushing surface (7311) and the third pushing surface (7313) are mirror-symmetrically arranged on both sides of the second pushing surface (7312). The first pushing surface (7311) and the third pushing surface (7313) are both inclined surfaces, and the second pushing surface (7312) is an arc surface. The abutment part (732) is hinged to the bracket (710), and the torsion spring (733) is located at the hinge point between the abutment part (732) and the bracket (710). The torsion spring (733) always keeps the abutment part (732) in a position parallel to the length direction of the lower rod (230). The abutting part (732) has a pressing surface (7321) and an abutting surface (7322) that are opposite to each other. The pressing surface (7321) is used to contact the first oil storage component (720). The abutting surface (7322) is an arc surface. The first pushing surface (7311) and the third pushing surface (7313) are separated from the abutting surface (7322) in the outer peripheral direction of the lower rod (230). The second pushing surface (7312) and the abutting surface (7322) have an overlapping portion in the outer peripheral direction of the lower rod (230) so that when the upper rod (220) and the lower rod (230) rotate relative to each other, the second pushing surface (7312) can abut against the abutting surface (7322), thereby causing the pressing surface (7321) to move closer to the first oil storage component (720).

2. The parallel robot for experimental simulation according to claim 1, characterized in that, The sliding mechanism (300) includes a driving component (310) and a moving component (320). The driving component (310) is used to drive the moving component (320) to reciprocate along the length direction of the upper inclined surface (410). The lower hinge seat (240) is mounted on the moving component (320).

3. A parallel robot for experimental simulation according to claim 2, characterized in that, The drive assembly (310) includes a motor (311) and a reciprocating screw (312). A mounting plate (420) is vertically provided at the top of the upper inclined surface (410). The motor (311) is mounted on the mounting plate (420). The reciprocating screw (312) is coaxially mounted on the output shaft of the motor (311), and the extension direction of the reciprocating screw (312) is consistent with the length direction of the upper inclined surface (410). The moving component (320) includes a moving base (321), a slider (322), and a lead screw nut (323). The slider (322) is located below the moving base (321). The lead screw nut (323) passes through the moving base (321) and is threadedly connected to the reciprocating lead screw (312). The upper inclined surface (410) is provided with a slide rail (430) along its own length direction. The slider (322) slides in cooperation with the slide rail (430).

4. A parallel robot for experimental simulation according to claim 3, characterized in that, Baffles (440) are provided on the upper inclined surface (410) and on both sides of the slide rail (430) along the length direction. The reciprocating screw (312) is rotatably connected to the two baffles (440) respectively. The baffles (440) are used to limit the movement range of the moving seat (321).

5. A parallel robot for experimental simulation according to claim 4, characterized in that, The inner plate surface of the baffle (440) is provided with a buffer pad (441), and along the length direction of the slide rail (430), the buffer pad (441) is directly opposite the end wall of the movable seat (321).

6. A parallel robot for experimental simulation according to claim 3, characterized in that, The mounting base (400) is further provided with a drive auxiliary assembly (500), which includes a first roller (510), a second roller (520), a third roller (530), and a rubber rope (540). The first roller (510) is provided on both sides of the movable seat (321), and the length direction of the first roller (510) is perpendicular to the length direction of the upper inclined surface (410); The second roller (520) is disposed on the side wall of the mounting base (400) near the lowest end of the upper inclined surface (410), and the third roller (530) is disposed on the side wall of the mounting base (400) near the highest end of the upper inclined surface (410), and both the second roller (520) and the third roller (530) are parallel to the first roller (510); The rubber rope (540) is tightly wound around the first roller (510), the second roller (520) and the third roller (530) so that when the moving seat (321) reciprocates within its own range of motion, the rubber rope (540) always has an elastic tension applied to the moving seat (321).

7. A parallel robot for experimental simulation according to claim 1, characterized in that, The outer diameter of the upper rod (220) is larger than the outer diameter of the lower rod (230), and the end edge of the upper rod (220) is provided with an annular barrier (222), which circumferentially covers the rotating rod (221) and the rotating bearing (600), and an insertion gap (223) is formed between the annular barrier (222) and the outer peripheral wall of the lower rod (230).

8. A parallel robot for experimental simulation according to claim 1, characterized in that, The first oil storage assembly (720) includes a limiting frame (721), an elastic rubber bladder (722), a flexible tube (723), and a rigid injection pipe (724). The limiting frame (721) is located on the side of the bracket (710) away from the lower rod (230), and the limiting frame (721) and the pushing part (731) form a limiting space to accommodate the elastic rubber bladder (722). The elastic rubber bladder (722) is integrally provided with an injection rigid tube (722). 1) A sealing cap (7222) is detachably provided on the injection hard tube (7221). One end of the flexible tube (723) is connected to the bottom of the elastic rubber bladder (722), and the other end extends to the upper end face of the lower rod (230) after passing through the insertion gap (223). The hard spray tube (724) is located on the upper end face of the rod and is connected to the flexible tube (723). The hard spray tube (724) faces the friction part of the rotating bearing (600). The second oil storage assembly (740) includes a positioning frame (741), an oil return tank (742), and an oil return pipe (743). The positioning frame (741) is mounted on the bracket (710), and the oil return tank (742) is embedded in the positioning frame (741). The lower rod body (230) is provided with a temporary oil storage tank (232) and a return channel (233). The temporary oil storage tank (232) is connected to the lower part of the rotating groove (231). The upstream end of the return channel (233) is connected to the temporary oil storage tank (232). The low end of the oil return pipe (743) is connected to the top end of the oil return tank (742), and the high end is connected to the downstream end of the return channel (233).

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