Redundant drive high-rigidity robot mechanism

Abstract

The invention relates to the technical field of robots, in particular to a redundant drive high-rigidity robot mechanism. The invention aims to provide a redundant drive high-rigidity robot mechanism which has the characteristics of large working space, good rigidity and high precision. According to the technical scheme, the redundant drive high-rigidity robot mechanism comprises a rack, a rotary platform rotatably positioned on the rack and a main framework with a working platform, and is characterized by further comprising two first branches, a second branch and a third branch which are connected between the main framework and the rotary platform.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, in particular to a redundantly driven high-rigidity robot mechanism. Background Art

[0002] In the field of large-scale component machining, traditional tandem machine tools suffer from poor flexibility and reconfigurability, necessitating a paradigm shift. With technological advancements, robotic machining has garnered widespread attention due to its flexibility. Large-scale component machining tasks require robots with a large workspace and high rigidity.

[0003] Currently, most industrial robots are open-loop structures. While they offer a large workspace, they suffer from poor overall stiffness and weak load-bearing capacity, making them prone to vibration and other issues during machining. In contrast, parallel robots, based on parallel mechanisms, offer superior overall stiffness and a high load-bearing capacity, but their limited workspace makes them suitable only for machining small components with minimal curvature changes. Therefore, to meet the demands of efficient machining of large components, it is necessary to develop a high-stiffness robot mechanism with a large workspace. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the deficiencies of the background technology and provide a redundantly driven high-rigidity robot mechanism, which should have the characteristics of large working space, good rigidity and high precision.

[0005] The technical solution of the present invention is:

[0006] A redundantly driven high-rigidity robot mechanism comprises a frame, a rotary platform rotatably positioned on the frame, and a main frame with a working platform, characterized in that it further comprises two first branches, a second branch, and a third branch connected between the main frame and the rotary platform;

[0007] The main structure is a quadrilateral mechanism, including a third link, a fourth rotational pair, a fourth link, a fifth rotational pair, a fifth link, a compound rotational pair, a second link, and a third rotational pair, which are sequentially connected to form a closed loop;

[0008] The first branch sequentially includes a guide rail, a slider, a sixth rotation pair, a sixth connecting rod and a seventh rotation pair connected between the rotary platform and the main structure;

[0009] The second branch is a composite branch, comprising a second rotational pair and a first connecting rod sequentially connected between the rotary platform and the composite rotational pair, and a subordinate branch sequentially connected between the rotary platform and the middle of the first connecting rod and having the same structure as the first branch;

[0010] The third branch sequentially includes an eighth rotation pair connected between the rotary platform and the main structure, a sleeve, a push rod, and a ninth rotation pair connected to the middle part of the fifth connecting rod.

[0011] The subordinate branch includes a guide rail, a slider, a sixth rotation pair, a sixth connection rod and a seventh rotation pair which are sequentially connected to the rotary platform and the middle part of the first connection rod.

[0012] In the main structure, the middle part of the fourth connecting rod is connected to the fifth rotation pair, the right end of the fourth connecting rod is connected to the fourth rotation pair, and the left end of the fourth connecting rod carries the working platform.

[0013] The third connecting rod is a bent rod with an obtuse angle, the tip of the obtuse angle faces downward and is connected to the third rotation pair; the lower end of the third connecting rod is connected to a seventh rotation pair, and the upper end of the third connecting rod is connected to the fourth rotation pair.

[0014] The left end of the second connecting rod is connected to the compound rotation pair, the right end of the second connecting rod is connected to the obtuse angle part of the third connecting rod through the third rotation pair, and the lower middle side of the second connecting rod is connected to another seventh rotation pair that is spaced apart from the third rotation pair.

[0015] The rotary platform is rotatably positioned on the frame through a first rotary pair, and the rotation axis of the first rotary pair is arranged vertically, and the upper plane of the rotary platform remains in a horizontal state.

[0016] The guide rails of the two first branches are fixed on the upper surface of the rotary platform in parallel with each other, and the guide rail of the subordinate branch in the second branch is fixed on the upper surface of the rotary platform and is parallel to the guide rail of the first branch.

[0017] The hinge ear in the compound rotation pair is fixed to the top end of the first connecting rod, and the rotating shaft in the compound rotation pair is inserted through the ends of the second connecting rod and the fifth connecting rod at the same time and then matched with the hinge ear.

[0018] The first moving pair is formed by the cooperation of a guide rail and a slider; the second moving pair is formed by the cooperation of a sleeve and a push rod.

[0019] The axes of the second rotation pair, the compound rotation pair, the third rotation pair, the fourth rotation pair, the fifth rotation pair, the sixth rotation pair, the seventh rotation pair and the eighth rotation pair are all parallel to each other and perpendicular to the axis of the first rotation pair.

[0020] The first rotating pair is the driving pair, and the moving pairs of each branch are also driving pairs.

[0021] The beneficial effects of the present invention are:

[0022] The robot mechanism proposed in the present invention can perform four-degree-of-freedom motion including two rotations and two movements. It is driven by five drive pairs and is redundantly driven. It has the characteristics of large working space, good rigidity and high precision. It can be used in fields such as robot processing and heavy-load industrial robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Schematic diagram of the three-dimensional structure of an embodiment of the present invention.

[0024] Figure 2 This is a diagram of the main architecture structure in an embodiment of the present invention.

[0025] Figure 3 Schematic diagram of the first branch structure in an embodiment of the present invention.

[0026] Figure 4 Schematic diagram of the second branch structure in an embodiment of the present invention.

[0027] Figure 5 This is a schematic diagram of the third branch structure in an embodiment of the present invention.

[0028] Numbers in the figure: frame 1, rotary platform 2, main frame 3, first connecting rod 4, compound rotating pair R3, second connecting rod 5, third connecting rod 6, fourth connecting rod 7, fifth connecting rod 8, guide rail 9, slider 10, sixth connecting rod 11, sleeve 12, push rod 13, first rotating pair R1, second rotating pair R2, compound rotating pair R3, third rotating pair R4, fourth rotating pair R5, fifth rotating pair R6, sixth rotating pair R7, seventh rotating pair R8, eighth rotating pair R9, ninth rotating pair R10, first movable pair P1, second movable pair P2. DETAILED DESCRIPTION

[0029] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings.

[0030] Figure 1 The redundantly driven high-rigidity robotic mechanism shown includes a frame 1, a first revolving pair R1, a rotary platform 2, a main frame 3, and four branches connected between the main frame and the rotary platform, the four branches including two first branches, a second branch, and a third branch. The frame is fixed to a foundation (a base or support frame), and the rotary platform is rotatably positioned on the frame (with the axis of rotation arranged vertically) via a first revolving pair, with the upper surface of the rotary platform maintained in a horizontal state. The first revolving pair includes a circular guide rail (conventional structure, omitted in the figure) provided at the top of the frame, and a slider provided at the bottom of the rotary platform and cooperating with the circular guide rail. In addition, the frame is equipped with a drive mechanism (existing technology, omitted in the figure) driven by a servo motor via a reducer.

[0031] Depend on Figure 2It can be seen that: the main structure is a quadrilateral mechanism (preferably a parallelogram mechanism), including the third link 6, the fourth rotation pair R5, the fourth link 7, the fifth rotation pair R6, the fifth link 8, the compound rotation pair R3, the second link 5, and the third rotation pair R4, which are connected in sequence to form a closed loop; wherein: the third link 6 is a bent rod with an obtuse angle, specifically, it is fixedly connected by one end of two straight rods to form an obtuse angle, the tip of the obtuse angle faces downward and is connected to the third rotation pair R4; the lower end of the third link 6 is connected to a seventh rotation pair R8, and the upper end of the third link 6 is connected to the fourth rotation pair R5. The left end of the second connecting rod 5 is connected to the compound rotation pair R3, and the right end of the second connecting rod 5 is connected to the obtuse angle of the third connecting rod through the third rotation pair R4. The lower side of the middle of the second connecting rod 5 is connected to another seventh rotation pair R8, which is spaced apart from the third rotation pair R4 connected to the right end of the second connecting rod 5. The middle of the fourth connecting rod 7 is connected to the fifth rotation pair R6, and the two ends of the fifth connecting rod 8 are respectively connected to the fifth rotation pair R6 and the compound rotation pair R3. All the rotation pair axes in the main structure (the fourth rotation pair R5 axis, the fifth rotation pair R6 axis, the compound rotation pair R3 axis, and the third rotation pair R4 axis) are parallel to each other and perpendicular to the axis of each connecting rod. In addition, the right end of the fourth connecting rod 7 is connected to the fourth rotation pair R5, and the left end can carry a work platform (the work platform is used to install work equipment) for work.

[0032] Depend on Figure 3 It can be seen that each first branch sequentially includes a guide rail 9 connected between the rotary platform and the main structure, a slider 10 (the guide rail and slider cooperate to form the first movable pair P1), a sixth rotational pair R7, a sixth connecting rod 11, and a seventh rotational pair R8. In the two first branches, the top end of the sixth connecting rod in one branch is connected to the lower end of the third connecting rod via the seventh rotational pair R8, while the top end of the sixth connecting rod in the other branch is connected to the lower middle side of the second connecting rod 5 via the seventh rotational pair R8.

[0033] The sixth secondary rotation axis is parallel to the seventh secondary rotation axis and perpendicular to the first secondary movement axis. In the two first branches, the two first secondary movement axes are parallel to each other.

[0034] Depend on Figure 4It can be seen that the second branch is a compound branch, including the second rotation pair R2 and the first connecting rod 4 connected in sequence between the rotary platform and the compound rotation pair R3, and the subordinate branch connected in sequence between the rotary platform and the middle of the first connecting rod, the subordinate branch includes the guide rail 9, the slider 10 (the guide rail and the slider cooperate to form a moving pair), the sixth rotation pair R7, the sixth connecting rod 11, and the seventh rotation pair R8 connected in sequence between the rotary platform and the middle of the first connecting rod; obviously, the subordinate branch structure in the second branch is exactly the same as the first branch structure, and the moving pair axis therein is parallel. The first moving secondary axis runs in the first branch; all the rotation secondary axes in the second branch (the second rotation secondary axis, the compound rotation secondary axis, the sixth rotation secondary axis and the seventh rotation secondary axis) are parallel to each other and perpendicular to the moving secondary axis; in addition, the hinge ear in the compound rotation pair R3 is fixed to the top end of the first connecting rod 4 (the bottom end of the first connecting rod is connected to the rotary platform through the second rotation pair), and the rotating shaft in the compound rotation pair R3 is simultaneously inserted into the ends of the second connecting rod 5 and the fifth connecting rod 8 and then cooperates with the hinge ear, thereby realizing the articulation of the three connecting rods.

[0035] Depend on Figure 5 It can be seen that the third branch includes the eighth rotation pair R9, the sleeve 12, the push rod 13 (the sleeve and the push rod cooperate to form the second mobile pair P2), and the ninth rotation pair R10 connected between the rotary platform and the main structure in sequence; wherein, the ninth rotation pair R10 is connected to the middle part of the fifth connecting rod 8 of the main structure, and the ninth rotation pair axis and the eighth rotation pair axis in the third branch are parallel to each other and perpendicular to the second mobile pair axis.

[0036] In this embodiment, the guide rails in the two first branches are fixed to the upper surface of the rotary platform in parallel with each other, and are parallel to the guide rail of the subordinate branch in the second branch.

[0037] In this embodiment, except for the first rotational pair, the axes of all other rotational pairs are parallel to each other and perpendicular to the first rotational pair axis.

[0038] In this embodiment, the driving pair is the first rotating pair and the moving pair on each branch; the third molecule is a redundant branch, and the second moving pair P2 is a redundant driving pair. The rotating pair can be driven by a servo motor through a reducer (omitted in the figure), and the moving pair can be driven by a servo motor driving a ball screw mechanism (omitted in the figure). When the driving pair moves, the fourth connecting rod in the mechanism can perform two rotations and two movements, four degrees of freedom.

Claims

1. A redundantly driven high-rigidity robot mechanism, comprising a frame (1), a rotary platform (2) rotatably positioned on the frame, and a main frame (3) with a working platform, characterized in that: It also includes two first branches, a second branch, and a third branch connected between the main structure and the rotary platform; The main structure is a quadrilateral mechanism, comprising a third connecting rod (6), a fourth rotational pair (R5), a fourth connecting rod (7), a fifth rotational pair (R6), a fifth connecting rod (8), a compound rotational pair (R3), a second connecting rod (5) and a third rotational pair (R4) which are sequentially connected to form a closed loop; The first branch sequentially comprises a guide rail (9), a slider (10), a sixth rotation pair (R7), a sixth connecting rod (11), and a seventh rotation pair (R8) connected between the rotary platform and the main frame; The second branch is a composite branch, comprising a second rotation pair (R2) and a first connecting rod (4) sequentially connected between the rotary platform and the composite rotation pair (R3), and a subordinate branch sequentially connected between the rotary platform and the middle of the first connecting rod and having the same structure as the first branch; The third branch sequentially comprises an eighth rotation pair (R9) connected between the rotary platform and the main frame, a sleeve (12), a push rod (13), and a ninth rotation pair (R10) connected to the middle part of the fifth connecting rod (8).

2. The redundantly driven high-rigidity robot mechanism according to claim 1, characterized in that: The subordinate branch comprises a guide rail (9), a slider (10), a sixth rotation pair (R7), a sixth connection rod (11) and a seventh rotation pair (R8) which are sequentially connected to the rotary platform and the middle part of the first connection rod.

3. The redundantly driven high-rigidity robot mechanism according to claim 2, characterized in that: In the main structure, the middle of the fourth connecting rod (7) is connected to the fifth rotation pair (R6), the right end of the fourth connecting rod is connected to the fourth rotation pair (R5), and the left end of the fourth connecting rod carries the working platform.

4. The redundantly driven high-rigidity robot mechanism according to claim 3, characterized in that: The third connecting rod (6) is a bent rod with an obtuse angle, the tip of the obtuse angle faces downward and is connected to the third rotation pair (R4); the lower end of the third connecting rod is connected to a seventh rotation pair (R8), and the upper end of the third connecting rod is connected to the fourth rotation pair (R5).

5. The redundantly driven high-rigidity robot mechanism according to claim 4, characterized in that: The left end of the second connecting rod (5) is connected to the composite rotation pair (R3), the right end of the second connecting rod is connected to the obtuse angle portion of the third connecting rod through the third rotation pair (R4), and the lower middle side of the second connecting rod is connected to another seventh rotation pair (R8) that is spaced apart from the third rotation pair.

6. The redundantly driven high-rigidity robot mechanism according to claim 5, characterized in that: The rotary platform is rotatably positioned on the frame through a first rotary pair, and the rotation axis of the first rotary pair is arranged vertically, and the upper plane of the rotary platform remains in a horizontal state.

7. The redundantly driven high-rigidity robot mechanism according to claim 6, characterized in that: The guide rails of the two first branches are fixed on the upper surface of the rotary platform in parallel with each other, and the guide rail of the subordinate branch in the second branch is fixed on the upper surface of the rotary platform and is parallel to the guide rail of the first branch.

8. The redundantly driven high-rigidity robot mechanism according to claim 7, characterized in that: The hinged ear in the compound rotation pair (R3) is fixed to the top end of the first connecting rod (4), and the rotating shaft in the compound rotation pair simultaneously penetrates the ends of the second connecting rod and the fifth connecting rod and then cooperates with the hinged ear.

9. The redundantly driven high-rigidity robot mechanism according to claim 8, characterized in that: The axes of the second rotation pair, the compound rotation pair, the third rotation pair, the fourth rotation pair, the fifth rotation pair, the sixth rotation pair, the seventh rotation pair and the eighth rotation pair are all parallel to each other and perpendicular to the axis of the first rotation pair.

10. The redundantly driven high-rigidity robot mechanism according to claim 9, characterized in that: The first rotating pair is the driving pair, and the moving pairs of each branch are also driving pairs.

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