Parallel five-degree-of-freedom robot

Abstract

This invention discloses a parallel five-degree-of-freedom robot, comprising an upper three-degree-of-freedom parallel module, a lower planar motion module, and a base. The two sides of the inner wall of the base are fixedly connected to the two sides of the lower planar motion module, and the top of the lower planar motion module is fixedly connected to the bottom of the upper three-degree-of-freedom parallel module. This invention adopts a parallel five-degree-of-freedom configuration design, which, while ensuring the end effector stiffness and load-bearing capacity, enables continuous and precise adjustment of the position and orientation of the gripped slender tool. The robot has a compact overall structure and can work in conjunction with external systems such as vision and force / displacement sensors. It is suitable for automated operation scenarios such as precision insertion, sampling, detection, and assembly in confined spaces.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a parallel five-degree-of-freedom robot. Background Technology

[0002] In applications such as precision assembly, non-destructive testing, material sampling, micro-hole machining, cavity exploration, and minimally invasive interventions, it is often necessary to insert needle-like or rod-like slender tools into target locations within confined spaces at specified incident points and angles, while maintaining tool axis stability and applying controllable axial working force during insertion. To improve operational consistency and repeatability, various robotic systems for positioning and inserting slender tools have been proposed in the industry.

[0003] Existing solutions often employ multi-stage serial robotic arms with end-effector guides, or use hybrid / parallel mechanisms for pose adjustment, followed by long-stroke linear guides for axial feed. These structures often suffer from limitations in positioning / pointing accuracy due to long mechanism chains, error accumulation, and compliant deformation. Furthermore, the introduction of long guides to achieve sufficient axial travel increases system size and footprint, and the high coupling between pose adjustment and feed mechanisms, coupled with insufficient modularity and system integration, makes it difficult to meet the comprehensive requirements of compactness, high rigidity, multiple incident angles, and repeatable feed / retreat.

[0004] A search revealed a Chinese invention patent with application number 202311652206.8, entitled "Kinematic Analysis Method for Miniaturized Hybrid Puncture Robot," which adjusts the position and orientation of the puncture needle by jointly driving four linear motors in the upper and lower drive components. However, this solution suffers from drawbacks such as large size, limited workspace, inability to autonomously deliver the needle, and puncture depth limited by the guide rail length, resulting in limited automation. Summary of the Invention

[0005] The purpose of this invention is to provide a parallel five-degree-of-freedom robot to solve the problems of large structure, high coupling between pose adjustment and axial feed, large system space occupation due to axial stroke dependence on long guide rails, and difficulty in balancing rigidity and accuracy in existing slender tool positioning / insertion systems. The invention achieves compactness, high rigidity, pose adjustment with multiple incident angles, and automatic feed and retraction.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a parallel five-degree-of-freedom robot, comprising a robot, the robot including an upper three-degree-of-freedom parallel module, a lower planar motion module, and a base. The two sides of the inner wall of the base are fixedly connected to the two sides of the lower planar motion module, and the top end of the lower planar motion module is fixedly connected to the bottom end of the upper three-degree-of-freedom parallel module. A slender tool penetrating the upper three-degree-of-freedom parallel module and the lower planar motion module is movably connected to the middle of the top end of the base. The upper three-degree-of-freedom parallel module includes a first support base, an upper X-axis translation module, an upper Y-axis translation module, a Z-axis translation module, and an upper airbag assembly. One side of the inner wall of the first support base is fixedly connected to the bottom end of the upper X-axis translation module, one end of the inner wall of the first support base is fixedly connected to the bottom end of the upper Y-axis translation module, and one side of the top end of the first support base is fixedly connected to the Z-axis translation module. The bottom end is fixedly connected, and one end of the upper X-axis translation module, one end of the upper Y-axis translation module, and one end of the Z-axis translation module are all movably connected to the side directly opposite the upper airbag bulb assembly; the lower planar movement module includes a lower X-axis translation module, a lower Y-axis translation module, a lower airbag bulb assembly, a lower X-axis translation module base, a lower adapter flange, a lower Y-axis translation module base, and a second support base, with a lower... The lower X-axis translation module base has one side fixedly connected to one side of the lower X-axis translation module. A lower transition flange is installed in the middle of the lower X-axis translation module. A lower Y-axis translation module base is fixedly installed on one side of the lower transition flange. A lower Y-axis translation module is fixedly installed on one side of the lower Y-axis translation module base. One side of the lower Y-axis translation module is movably connected to the side of the lower airbag bulb assembly directly opposite to it.

[0007] Furthermore, the upper three-degree-of-freedom parallel module drags the upper airbag ball joint at the end to perform three-degree-of-freedom translational motion; the lower planar motion module drags the lower airbag ball joint to perform two-degree-of-freedom translational motion; the slender tool passes through the guide hole set at the center of the upper and lower airbag ball joints; the upper three-degree-of-freedom parallel module and the lower planar motion module coordinate their movements according to the settings to adjust the position and posture of the slender tool.

[0008] Furthermore, both the upper X-axis translation module and the upper Y-axis translation module include a first motor and a first lead screw. A first driving gear is fixedly mounted on the output end of the first motor. A first driven gear is meshed with the outer side of the first driving gear. The middle part of the first driven gear is fixedly connected to one end of the first lead screw. A square nut is threaded onto the surface of the first lead screw. A support base is fixedly mounted on the top of the square nut. A linear slide is provided on one side of the first lead screw. A sliding block is slidably connected to the middle of the linear slide. The top of the sliding block is fixedly connected to one side of the bottom end of the support base. A first connecting rod is rotatably connected inside the support base. The top end of the first connecting rod is rotatably connected to the second connecting rod, one end of the second connecting rod is movably connected to the upper airbag ball joint, the bottom end of the first motor is fixedly connected to the first support base, the first motor drives the first driving gear to rotate, the first driving gear contacts the first driven gear, the first driven gear drives the first lead screw to rotate, the thread on the surface of the first lead screw matches the thread on the inner wall of the square nut, the square nut is limited by the support base, the sliding block at the bottom of the support base slides along the linear slide, so the square nut slides relative to the first lead screw, the support base drives the first connecting rod and the second connecting rod to move synchronously, and the second connecting rod drives the upper airbag ball joint to move synchronously.

[0009] Furthermore, both ends of the first support base and both ends of the second support base are fixedly connected to the two sides of the inner wall of the base. The upper three-degree-of-freedom parallel module is installed on the base through the first support base, and the lower planar movement module is installed on the base through the second support base.

[0010] Furthermore, the upper airbag assembly includes an airbag, an assembly, and a socket. The interior of the socket is fixedly connected to the exterior of the assembly, and the interior of the assembly is fixedly connected to the exterior of the airbag. The three sides of the socket are movably connected to the upper X-axis translation module, the upper Y-axis translation module, and the Z-axis translation module, respectively. The airbag is a hollow annular cylinder, and a slender tool passes through the center of the airbag. When air is inflated into the airbag, it expands and grips the slender tool. When air is deflated from the airbag, it contracts and releases the slender tool. The lower airbag assembly has a similar structure to the upper airbag assembly.

[0011] Furthermore, the interior of the airbag is in contact with the slender tool, and the upper three-degree-of-freedom parallel module drives the slender tool to move through the airbag.

[0012] Furthermore, both the lower X-axis translation module and the lower Y-axis translation module include a second motor and a second lead screw. A second driving gear is fixedly mounted on the output end of the second motor, and a second driven gear meshes with the outer side of the second driving gear. The middle part of the second driven gear is fixedly connected to one end of the second lead screw, and a movable block is threadedly connected to the middle part of the second lead screw. The top end of the movable block located on the lower X-axis translation module is fixedly connected to the lower transition flange, and the movable block located on the lower X-axis translation module is slidably connected to the base of the lower X-axis translation module. One side of the movable block located on the lower Y-axis translation module is movably connected to the lower airbag bulb assembly, and the movable block located on the lower Y-axis translation module is slidably connected to the base of the lower Y-axis translation module. The second motor drives the second drive gear to rotate, the second drive gear contacts the second driven gear, the second driven gear drives the second lead screw to rotate, the thread on the surface of the second lead screw matches the thread on the inner wall of the movable block, and the movable block is limited by the base of the translation module, so the movable block slides along the second lead screw to adjust the X and Y directions of the lower airbag bulb assembly respectively.

[0013] Furthermore, the interior of the lower airbag ball assembly is in contact with the slender tool, and the lower planar movement module adjusts the position of the slender tool through the lower airbag ball assembly.

[0014] Compared with the prior art, the beneficial effects of the present invention are:

[0015] 1. To achieve pose adjustment of a slender tool, the upper three-freedom parallel module can control the three-degree-of-freedom translation of the upper airbag ball joint; the lower planar movement module can control the lower airbag ball joint to perform two-degree-of-freedom translation on the plane; the slender tool passes through the guide holes of the upper and lower airbag ball joints; the position of the ball joints is adjusted by the coordinated movement of the upper and lower parallel mechanisms, thereby achieving the pose adjustment of the slender tool.

[0016] 2. To achieve the feeding of the slender tool, the lower ball joint remains stationary and the slender tool is released. The upper airbag ball joint inflates and grips the slender tool, moving downwards along the axis of the slender tool to achieve feeding. Then, the lower ball joint remains stationary and grips the slender tool. The upper airbag ball joint deflates and releases the slender tool, moving upwards along the axis of the slender tool to return to the initial position, completing one feeding cycle.

[0017] 3. To achieve the retraction of the slender tool, the lower ball joint remains stationary and the slender tool is released. The upper airbag ball joint inflates and grips the slender tool, moving upwards along the axis of the slender tool to achieve retraction. Then, the lower ball joint remains stationary and grips the slender tool, while the upper airbag ball joint deflates and releases the slender tool, moving downwards along the axis of the slender tool to return to the initial position, completing one retraction cycle. Attached Figure Description

[0018] Figure 1 This is a perspective view of the present invention;

[0019] Figure 2 This is a perspective view of the upper three-degree-of-freedom parallel module of the present invention;

[0020] Figure 3 This is a perspective view of the upper X-axis translation module of the present invention;

[0021] Figure 4 This is a perspective view of the lower planar moving module of the present invention;

[0022] Figure 5 This is a schematic diagram of the upper airbag bulb assembly of the present invention;

[0023] Figure 6 This is one of the schematic diagrams showing the pose of the elongated tool of the present invention;

[0024] Figure 7 This is a second schematic diagram of the pose of the slender tool of the present invention;

[0025] Figure 8 This is a third schematic diagram of the pose of the slender tool of the present invention;

[0026] Figure 9 This is the fourth schematic diagram of a pose of the slender tool of the present invention;

[0027] Figure 10 This is one of the schematic diagrams illustrating the feeding method of the slender tool of the present invention;

[0028] Figure 11 This is a second schematic diagram of the feeding method for the slender tool of the present invention.

[0029] In the diagram: I. Upper three-degree-of-freedom parallel module; II. Lower planar translation module; III. Base; IV. Slender tool; 1. First support base; 2. Upper X-axis translation module; 3. Upper Y-axis translation module; 4. Z-axis translation module; 5. Upper airbag ball joint; 6. First motor; 7. First lead screw; 8. Square nut; 9. Linear slide; 11. Support base; 12. First connecting rod; 13. Second connecting rod; 15. Lower X-axis translation module; 16. Lower Y-axis translation module; 17. Lower airbag ball joint; 18. Lower X-axis translation module base; 19. Lower adapter flange; 20. Lower Y-axis translation module base; 21. Airbag; 22. Ball joint; 23. Ball socket; 24. Second support base. Detailed Implementation

[0030] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0031] Please see Figure 1-11 This invention provides a parallel five-degree-of-freedom robot, comprising an upper three-degree-of-freedom parallel module I, a lower planar motion module II, and a base III. The inner walls of the base III are fixedly connected to the two sides of the lower planar motion module II, respectively. The top end of the lower planar motion module II is fixedly connected to the bottom end of the upper three-degree-of-freedom parallel module I. A slender tool penetrating the upper three-degree-of-freedom parallel module I and the lower planar motion module II is movably connected to the middle of the top end of the base III. The upper three-degree-of-freedom parallel module I includes a first support base 1, an upper X-axis translation module 2, an upper Y-axis translation module 3, a Z-axis translation module 4, and an upper airbag ball assembly 5. One side of the inner wall of the first support base 1 is fixedly connected to the bottom end of the upper X-axis translation module 2, one end of the inner wall of the first support base 1 is fixedly connected to the bottom end of the upper Y-axis translation module 3, and one side of the top of the first support base 1 is fixedly connected to the bottom end of the Z-axis translation module 4. The upper X-axis translation module... One end of module 2, one end of the upper Y-axis translation module 3, and one end of the Z-axis translation module 4 are all movably connected to the side of the upper airbag ball assembly 5 directly opposite to it; the lower planar movement module II includes a lower X-axis translation module 15, a lower Y-axis translation module 16, a lower airbag ball assembly 17, a lower X-axis translation module base 18, a lower adapter flange 19, a lower Y-axis translation module base 20, and a second support base 24. The lower X-axis translation module is fixedly mounted on the top of the second support base 24. The lower X-axis translation module base 18 is fixedly connected to one side of the lower X-axis translation module 15. A lower transition flange 19 is installed in the middle of the lower X-axis translation module 15. A lower Y-axis translation module base 20 is fixedly installed on one side of the lower transition flange 19. A lower Y-axis translation module 16 is fixedly installed on one side of the lower Y-axis translation module base 20. One side of the lower Y-axis translation module 16 is movably connected to the side of the lower airbag bulb assembly 17 opposite to it.

[0032] In use, the upper three-degree-of-freedom parallel module I drags the upper airbag ball 5 at the end to perform a three-degree-of-freedom translational motion; the lower planar motion module II drags the lower airbag ball 17 to perform a two-degree-of-freedom translational motion; the slender tool IV passes through the guide hole set in the center of the upper airbag ball 5 and the lower airbag ball 17; the upper three-degree-of-freedom parallel module I and the lower planar motion module II coordinate their movements according to the settings to adjust the position and attitude of the slender tool IV.

[0033] Both the upper X-axis translation module 2 and the upper Y-axis translation module 3 include a first motor 6 and a first lead screw 7. A first driving gear is fixedly installed at the output end of the first motor 6. A first driven gear is meshed with the outer side of the first driving gear. The middle part of the first driven gear is fixedly connected to one end of the first lead screw 7. A square nut 8 is threaded onto the surface of the first lead screw 7. A support base 11 is fixedly installed at the top of the square nut 8. A linear slide 9 is provided on one side of the first lead screw 7. A sliding block is slidably connected to the middle of the linear slide 9. The top of the sliding block is fixedly connected to one side of the bottom end of the support base 11. A first connecting rod 12 is rotatably connected inside the support base 11. A second connecting rod 13 is rotatably connected to the top of the first connecting rod 12. One end of the second connecting rod 13 is movably connected to the upper airbag ball joint 5. The bottom end of the first motor 6 is fixedly connected to the first support base 1.

[0034] In use, the first motor 6 drives the first driving gear to rotate, and the first driving gear contacts the first driven gear. The first driven gear drives the first lead screw 7 to rotate. The thread on the surface of the first lead screw 7 matches the thread on the inner wall of the square nut 8. The square nut 8 is limited by the support base 11. The sliding block at the bottom of the support base 11 slides along the linear slide 9, so the square nut 8 slides relative to the first lead screw 7. The support base 11 drives the first connecting rod 12 and the second connecting rod 13 to move synchronously. The second connecting rod 13 drives the upper airbag ball joint 5 to move synchronously.

[0035] Both ends of the first support base 1 and both ends of the second support base 24 are fixedly connected to the two sides of the inner wall of the base III.

[0036] In use, the upper three-degree-of-freedom parallel module I is mounted on the base III via the first support base 1, and the lower planar motion module II is mounted on the base III via the second support base 24.

[0037] The upper airbag spherical assembly 5 includes an airbag 21, a spherical assembly 22, and a spherical socket 23. The interior of the spherical socket 23 is fixedly connected to the exterior of the spherical assembly 22, and the interior of the spherical assembly 22 is fixedly connected to the exterior of the airbag 21. The three sides of the spherical socket 23 are movably connected to the upper X-axis translation module 2, the upper Y-axis translation module 3, and the Z-axis translation module 4, respectively.

[0038] In use, the airbag 21 is a hollow circular cylinder, and the slender tool IV passes through the center of the airbag 21. When air is inflated into the airbag 21, it expands and grips the slender tool IV. When air is deflated from the airbag 21, it contracts and releases the slender tool IV. The lower airbag assembly 17 has a similar structure to the upper airbag assembly 5.

[0039] The interior of the airbag 21 is in contact with the slender tool IV.

[0040] In use, the upper three-degree-of-freedom parallel module I drives the slender tool IV to move through the airbag 21.

[0041] Both the lower X-axis translation module 15 and the lower Y-axis translation module 16 include a second motor and a second lead screw. A second driving gear is fixedly installed at the output end of the second motor. A second driven gear meshes with the outer side of the second driving gear. The middle part of the second driven gear is fixedly connected to one end of the second lead screw. A movable block is threadedly connected to the middle part of the second lead screw. The top of the movable block on the lower X-axis translation module 15 is fixedly connected to the lower transition flange 19, and the movable block on the lower X-axis translation module 15 is slidably connected to the lower X-axis translation module base 18. One side of the movable block on the lower Y-axis translation module 16 is movably connected to the lower airbag ball joint 17, and the movable block on the lower Y-axis translation module 16 is slidably connected to the lower Y-axis translation module base 20.

[0042] In use, the second motor drives the second drive gear to rotate, the second drive gear contacts the second driven gear, the second driven gear drives the second lead screw to rotate, the thread on the surface of the second lead screw matches the thread on the inner wall of the movable block, and the movable block is limited by the translation module base, so the movable block slides along the second lead screw to adjust the X and Y directions of the lower airbag ball assembly 17 respectively.

[0043] The interior of the lower airbag bulb assembly 17 is in contact with the slender tool IV.

[0044] In use, the lower plane moving module II adjusts the position of the slender tool IV through the lower airbag ball joint 17.

[0045] In this invention, in conjunction with the appendix to the specification... Figure 6-9 The upper three-degree-of-freedom parallel module I drags the upper airbag sphere 5 at the end for three-degree-of-freedom translational motion; the lower planar motion module II drags the lower airbag sphere 17 for two-degree-of-freedom translational motion; the slender tool IV passes through the guide hole set at the center of the upper airbag sphere 5 and the lower airbag sphere 17; the upper three-degree-of-freedom parallel module I and the lower planar motion module II coordinate their movements according to the settings, adjusting the position and attitude of the slender tool IV, as shown in the attached instruction manual. Figure 10-11 The lower airbag bulb assembly 17 remains stationary, and air is drawn from the airbag 21 to release the slender tool IV; the upper airbag bulb assembly 5 inflates to grip the slender tool IV and moves downward along the axis of the slender tool IV, thereby driving the slender tool IV downward; conversely, the lower airbag bulb assembly 17 remains stationary, and air is drawn from the airbag 21 to release the slender tool IV; the upper airbag bulb assembly 5 inflates to grip the slender tool IV and moves upward along the axis of the slender tool IV, thereby driving the slender tool IV to retract.

[0046] The slender tools described in this invention include, but are not limited to, puncture needles.

[0047] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A parallel five-degree-of-freedom robot, comprising a robot, Its features are: The robot includes an upper three-degree-of-freedom parallel module (I), a lower planar motion module (II), and a base (III). The two sides of the inner wall of the base (III) are fixedly connected to the two sides of the lower planar motion module (II), and the top of the lower planar motion module (II) is fixedly connected to the bottom of the upper three-degree-of-freedom parallel module (I). A slender tool (IV) that penetrates the upper three-degree-of-freedom parallel module (I) and the lower planar motion module (II) is movably connected to the middle of the top of the base (III). The upper three-degree-of-freedom parallel module (I) includes a first support base (1), an upper X-axis translation module (2), an upper Y-axis translation module (3), a Z-axis translation module (4), and an upper airbag ball assembly (5). One side of the inner wall of the first support base (1) is fixedly connected to the bottom end of the upper X-axis translation module (2), one end of the inner wall of the first support base (1) is fixedly connected to the bottom end of the upper Y-axis translation module (3), one side of the top of the first support base (1) is fixedly connected to the bottom end of the Z-axis translation module (4), and one end of the upper X-axis translation module (2), one end of the upper Y-axis translation module (3), and one end of the Z-axis translation module (4) are all movably connected to the side of the upper airbag ball assembly (5) directly opposite to it. The lower-level planar movement module (II) includes a lower-level X-axis translation module (15), a lower-level Y-axis translation module (16), a lower-level airbag bulb assembly (17), a lower-level X-axis translation module base (18), a lower-level adapter flange (19), a lower-level Y-axis translation module base (20), and a second support base (24). The lower-level X-axis translation module base (18) is fixedly installed on the top of the second support base (24). One side of the lower-level X-axis translation module base (18) is connected to the lower... One side of the lower X-axis translation module (15) is fixedly connected, and a lower transition flange (19) is installed in the middle of the lower X-axis translation module (15). A lower Y-axis translation module base (20) is fixedly installed on one side of the lower transition flange (19). A lower Y-axis translation module (16) is fixedly installed on one side of the lower Y-axis translation module base (20). One side of the lower Y-axis translation module (16) is movably connected to the side of the lower airbag ball assembly (17) opposite to it.

2. The parallel five-degree-of-freedom robot according to claim 1, characterized in that: Both the upper X-axis translation module (2) and the upper Y-axis translation module (3) include a first motor (6) and a first lead screw (7). A first driving gear is fixedly installed at the output end of the first motor (6). A first driven gear is meshed with the outer side of the first driving gear. The middle part of the first driven gear is fixedly connected to one end of the first lead screw (7). A square nut (8) is threaded onto the surface of the first lead screw (7). A support base (11) is fixedly installed at the top of the square nut (8). A linear slide (9) is provided on one side of the rod (7). A sliding block is slidably connected to the middle of the linear slide (9). The top of the sliding block is fixedly connected to one side of the bottom of the support base (11). A first connecting rod (12) is rotatably connected inside the support base (11). A second connecting rod (13) is rotatably connected to the top of the first connecting rod (12). One end of the second connecting rod (13) is movably connected to the upper airbag ball assembly (5). The bottom of the first motor (6) is fixedly connected to the first support base (1).

3. A parallel five-degree-of-freedom robot according to claim 1, characterized in that: Both ends of the first support base (1) and both ends of the second support base (24) are fixedly connected to the two sides of the inner wall of the base (Ⅲ).

4. A parallel five-degree-of-freedom robot according to claim 1, characterized in that: The upper airbag ball assembly (5) includes an airbag (21), a ball assembly (22) and a ball socket (23). The interior of the ball socket (23) is fixedly connected to the outside of the ball assembly (22), and the interior of the ball assembly (22) is fixedly connected to the outside of the airbag (21). The three sides of the ball socket (23) are movably connected to the upper X-axis translation module (2), the upper Y-axis translation module (3) and the Z-axis translation module (4), respectively.

5. A parallel five-degree-of-freedom robot according to claim 4, characterized in that: The interior of the airbag (21) is in contact with the elongated tool (Ⅳ).

6. A parallel five-degree-of-freedom robot according to claim 1, characterized in that: The lower X-axis translation module (15) and the lower Y-axis translation module (16) both include a second motor and a second lead screw. The output end of the second motor is fixedly mounted with a second drive gear. The outer side of the second drive gear is meshed with a second driven gear. The middle part of the second driven gear is fixedly connected to one end of the second lead screw. The middle part of the second lead screw is threadedly connected to a movable block. The top of the movable block on the lower X-axis translation module (15) is fixedly connected to the lower transition flange (19). The movable block on the lower X-axis translation module (15) is slidably connected to the lower X-axis translation module base (18). One side of the movable block on the lower Y-axis translation module (16) is movably connected to the lower airbag ball joint (17). The movable block on the lower Y-axis translation module (16) is slidably connected to the lower Y-axis translation module base (20).

7. A parallel five-degree-of-freedom robot according to claim 1, characterized in that: The interior of the lower airbag bulb assembly (17) is in contact with the elongated tool (Ⅳ).

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