Parallel robot

Abstract

The utility model belongs to the technical field of parallel robots, and discloses a parallel robot which comprises a base and a platform, six joint groups are uniformly and annularly arranged on the opposite surfaces of the base and the platform in an array mode, the six joint groups are three lower joint groups and three upper joint groups respectively, and the upper joint groups and the lower joint groups are arranged in a staggered mode. Six linear motors are connected between the three lower joint groups and the three upper joint groups; the linear motor is adopted to directly drive the mechanical arm, traditional indirect linear motion is abandoned, transmission media are reduced, and therefore the precision, the response speed, the working efficiency and the size of the parallel robot are improved, and the parallel robot is more suitable for high-precision, high-speed, high-efficiency and miniaturized working scenes.

Description

Technical Field

[0001] The utility model relates to the technical field of parallel robots, and more specifically, to a parallel robot. Background Art

[0002] The existing parallel robot structure uses hydraulic cylinders, air cylinders, electric cylinders and other linear motion actuators as the mechanical arm. The above linear motion actuators all achieve the effect of linear motion through the transmission medium of the power source. Its accuracy, response, efficiency and volume are all feasible to be further improved. Because the linear motion actuator as the mechanical arm is indirect linear motion, it has the disadvantages of low accuracy, slow response, poor efficiency and large volume.

[0003] To this end, the present application proposes a parallel robot to solve the above-mentioned problems. Utility Model Content

[0004] In order to solve the above problems, the present application provides a parallel robot.

[0005] The parallel robot provided in this application adopts the following technical solution:

[0006] A parallel robot comprises a base and a platform. The opposite surfaces of the base and the platform are evenly provided with six joint groups in a circular array, namely three lower joint groups and three upper joint groups. The upper joint groups are staggered with the lower joint groups. Six linear motors are connected between the three lower joint groups and the three upper joint groups.

[0007] Furthermore, a rotating member is arranged in each node; the rotating member includes an upper rotating member and a lower rotating member, the upper rotating member is arranged in the upper joint group, and the lower rotating member is arranged in the lower joint group; the upper rotating member and the lower rotating member are respectively movably connected to the piston and the base of the linear motor, and the rotation direction of the rotating member is cross-intersected with the rotation direction of the linear motor.

[0008] Through the above technical solution, the robot arm can be made more stable during movement; the cross-rotation method can make the movement of the robot arm in different directions more coordinated, reducing the impact force and vibration during the movement, thereby improving the accuracy and stability of the robot arm; this design can also reduce the noise and wear of the robot arm and extend the service life of the robot arm.

[0009] Furthermore, the lower rotating member is movably connected to the base of the linear motor; the upper rotating member is movably connected to the piston of the linear motor; six linear motors are connected between the three lower joint groups and the three upper joint groups, and the six linear motors are arranged at angles.

[0010] Through the above technical solution, the six linear motors are arranged at angles, so that the robot arm has a larger range of motion and can better adapt to different working environments, thereby improving the environmental adaptability and versatility of the parallel robot.

[0011] Furthermore, the joint assembly is detachably connected to the base and the platform.

[0012] The above technical solution makes the maintenance and replacement of the robot arm more convenient, improves the service life and reliability of the robot arm, and thus reduces the cost of use.

[0013] In summary, the present application includes at least one of the following beneficial technical effects:

[0014] (1) The use of linear motors to directly drive the robotic arm abandons the traditional indirect linear motion and reduces the transmission medium, thereby improving the accuracy, response speed, work efficiency and volume of the parallel robot, making it more suitable for high-precision, high-speed, high-efficiency and miniaturized work scenarios;

[0015] (2) It makes the maintenance and replacement of the robot arm more convenient, improves the service life and reliability of the robot arm, and thus reduces the cost of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of this application;

[0017] Figure 2 This is a three-dimensional diagram of the present application.

[0018] Explanation of the numbers in the figure: 1. base; 2. platform; 3. lower joint group; 4. upper joint group; 5. linear motor; 6. upper rotating part; 7. lower rotating part. DETAILED DESCRIPTION

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application; it is obvious that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application without making creative work are within the scope of protection of the present application.

[0020] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0021] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "set / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0022] Example:

[0023] The following is combined with Figure 1 -2 Provide further details of this application.

[0024] An embodiment of the present application discloses a parallel robot, including a base 1 and a platform 2. Six joint groups are arranged in a uniform circular array on the opposite surfaces of the base 1 and the platform 2, namely three lower joint groups 3 and three upper joint groups 4. The upper joint groups 4 and the lower joint groups 3 are arranged alternately; six linear motors 5 are connected between the lower joint groups 3 and the upper joint groups 4.

[0025] See also Figure 1 and Figure 2 , a rotating member is arranged in each node; the rotating member includes an upper rotating member 6 and a lower rotating member 7, the upper rotating member 6 is arranged in the upper joint group 4, and the lower rotating member 7 is arranged in the lower joint group 3; the upper rotating member 6 and the lower rotating member 7 are respectively movably connected to the piston and the base of the linear motor 5, and the rotation direction of the rotating member is cross-intersected with the rotation direction of the linear motor 5; the linear motor 5 can be made more stable during movement; the cross-intersecting rotation method can make the movement of the linear motor 5 in different directions more coordinated, reduce the impact force and vibration during the movement, thereby improving the accuracy and stability of the linear motor 5; this design can also reduce the noise and wear of the linear motor 5, and extend the service life of the linear motor 5.

[0026] See also Figure 1 and Figure 2The lower rotating member 7 is movably connected to the base of the linear motor 5; the upper rotating member 6 is movably connected to the piston of the linear motor 5; six linear motors 5 are connected between the three lower joint groups 3 and the three upper joint groups 4, and the six linear motors 5 are arranged at an angle, so that the robot arm has a larger range of motion and can better adapt to different working environments, thereby improving the environmental adaptability and versatility of the parallel robot.

[0027] See also Figure 1 and Figure 2 The joint group is detachably connected to the base 1 and the platform 2, which makes the maintenance and replacement of the robot arm more convenient, improves the service life and reliability of the robot arm, and thus reduces the cost of use.

[0028] The implementation principle of a parallel robot in an embodiment of the present application is: a linear motor is used to directly drive the robotic arm, which abandons the traditional indirect linear motion and reduces the transmission medium, thereby improving the accuracy, response speed, work efficiency and volume of the parallel robot, making it more suitable for high-precision, high-speed, high-efficiency and miniaturized work scenarios, and further improving the performance of the parallel robot.

[0029] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A parallel robot, comprising a base (1) and a platform (2), characterized in that: The opposing surfaces of the base (1) and the platform (2) are evenly provided with six joint groups in an annular array, namely three lower joint groups (3) and three upper joint groups (4); the three upper joint groups (4) and the three lower joint groups (3) are arranged alternately; and six linear motors (5) are connected between the three lower joint groups (3) and the three upper joint groups (4).

2. The parallel robot according to claim 1, characterized in that: Each of the joint groups has two nodes, and a rotating member is arranged in each node; the rotating member comprises an upper rotating member (6) and a lower rotating member (7), the upper rotating member (6) is arranged in the upper joint group (4), and the lower rotating member (7) is arranged in the lower joint group (3); the upper rotating member (6) and the lower rotating member (7) are respectively movably connected to the piston and the base of the linear motor (5), and the rotation direction of the rotating member is cross-intersected with the rotation direction of the linear motor (5).

3. The parallel robot according to claim 2, characterized in that: The lower rotating member (7) is movably connected to the base of the linear motor (5); the upper rotating member (6) is movably connected to the piston of the linear motor (5); six linear motors (5) are connected between the three lower joint groups (3) and the three upper joint groups (4), and the six linear motors (5) are arranged at angles.

4. The parallel robot according to claim 1, characterized in that: The joint assembly is detachably connected to the base (1) and the platform (2).

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