Lightweight high-speed parallel robot
By designing a lightweight high-speed parallel robot and adopting a sliding-connected rotary unit structure, the problem of low speed limit for traditional parallel robots under overload conditions is solved, achieving higher speed and flexibility.
Patent Information
- Application Number
- CN202420276815.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-02-04
- Publication Date
- 2025-02-18
- Estimated Expiration
- 2034-02-04
AI Technical Summary
In the overload application scenarios, existing parallel robots have problems such as insufficient beats and insufficient production capacity. This is mainly because the ball spline shaft transmission is easily affected by wear and damage to the normal operation of the transmission, and the combination of metal and carbon fibers leads to the low upper limit of the robot speed.
A lightweight high-speed parallel robot is designed, adopting a structure of a dynamic platform, a static platform and a rotating unit, wherein the rotating unit includes a first shaft assembly, a second shaft assembly, a first slider and a second slider, which is realized by sliding connection. The telescopic movement of the rotating unit enables flexible movement while transmitting torque.
It effectively avoids the wear problem of ball spline shaft transmission, improves the performance of the robot under overload conditions, achieves higher speed and flexibility, and solves the problem of low speed limit of traditional parallel robots.
Smart Images
Figure CN222492892U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of robots, in particular to a lightweight high-speed parallel robot. Background Art
[0002] Existing parallel robots still have problems with insufficient rhythm and production capacity when dealing with some overload application scenarios. This is because the rotating axis of the parallel robot adopts ball spline shaft transmission. If the spline is worn or the ball is damaged, it will affect the normal operation of the transmission. In addition, the joints are mostly assembled in the form of a combination of metal and carbon fiber. Because metal parts account for a large proportion, and the fixed connected additional parts are heavy, the robot's speed limit is ultimately low. Utility Model Content
[0003] The purpose of the utility model is to provide a lightweight high-speed parallel robot to solve the technical problem that the rotation axis adopts a ball spline shaft transmission, and if the spline is worn or the ball is damaged, the normal operation of the transmission will be affected. The preferred technical solution among the many technical solutions provided by the utility model can produce many technical effects as described below.
[0004] In order to achieve the above purpose, the utility model provides the following technical solutions:
[0005] The utility model provides a lightweight high-speed parallel robot, comprising a moving platform, a static platform and a rotating unit, wherein the rotating unit comprises a first axis assembly, a second axis assembly, a first sliding member and a second sliding member, wherein the first end of the first axis assembly is connected to the static platform, and the second end of the first axis assembly passes through the first sliding member and is connected to the second sliding member; the second end of the second axis assembly is connected to the moving platform, and the first end of the second axis assembly passes through the second sliding member and is connected to the first sliding member.
[0006] Preferably, the rotating unit also includes a first driving part, which is arranged on the static platform, the first end of the first shaft assembly is connected to the first driving part through a first universal joint, and the second end of the second shaft assembly is connected to the center of the moving platform through a second universal joint.
[0007] Preferably, the first shaft assembly is slidably connected to the first sliding member via a sliding bearing, and the second shaft assembly is slidably connected to the second sliding member via a sliding bearing.
[0008] Preferably, the first shaft assembly includes two oppositely arranged first aluminum shafts, the first ends of the first aluminum shafts are connected to the first universal joint via a fixing member, and the second ends of the first aluminum shafts are connected to the second sliding member after passing through the first sliding member; the second shaft assembly includes two oppositely arranged second aluminum shafts, the first ends of the second aluminum shafts are connected to the first sliding member after passing through the second sliding member, and the second ends of the first aluminum shafts are connected to the second universal joint via a fixing member.
[0009] Preferably, a parallel arm unit is provided between the moving platform and the static platform, and the number of the parallel arm units is plural and arranged along the circumferential direction of the static platform.
[0010] Preferably, the parallel arm unit includes a second driving part, an active arm and a driven arm, the second driving part is arranged on the static platform, the output end of the second driving part is transmission-connected to the first end of the active arm, the second end of the active arm is rotationally connected to the first end of the driven arm, and the second end of the driven arm is rotationally connected to the moving platform.
[0011] Preferably, there are two driven arms, which are arranged in parallel on both sides of the active arm. The first end of the driven arm is rotatably connected to the second end of the active arm through a ball joint, and the second end of the driven arm is rotatably connected to the moving platform through a ball joint. The two ball joints are connected by a tension spring.
[0012] Preferably, both ends of the tension spring are connected to the ball pair via connecting pieces respectively, the connecting piece is provided with a slot, and the end of the tension spring is provided with a hook engaged with the slot.
[0013] The preferred technical solution of the utility model can also produce at least the following technical effects:
[0014] The utility model effectively avoids the technical problem that the design of the parallel robot existing in the prior art has defects, and the rotating shaft adopts a ball spline shaft transmission, and if the spline is worn or the ball is damaged, it will affect the normal operation of the transmission. The utility model provides a lightweight high-speed parallel robot, including a moving platform, a static platform and a rotating unit, and the rotating unit includes a first shaft assembly, a second shaft assembly, a first sliding member and a second sliding member. The first end of the first shaft assembly is connected to the static platform, and the second end of the first shaft assembly passes through the first sliding member and is connected to the second sliding member; the second end of the second shaft assembly is connected to the moving platform, and the first end of the second shaft assembly passes through the second sliding member and is connected to the first sliding member. The utility model adjusts the relative position of the first shaft assembly and the second shaft assembly by sliding the first shaft assembly along the first sliding member, so as to realize the telescopic movement of the rotating unit, so that the rotating unit provided by the utility model can realize torque transmission while also being able to perform telescopic movement and flexible activity. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0016] Figure 1 This is a structural schematic diagram of a lightweight high-speed parallel robot provided by the utility model;
[0017] Figure 2 It is a structural schematic diagram of a rotation unit of a lightweight high-speed parallel robot provided by the utility model.
[0018] In the figure:
[0019] 1. Static platform; 2. Moving platform; 3. First aluminum shaft; 4. Second aluminum shaft; 5. First sliding member; 51. First sliding through hole; 52. First mounting through hole; 6. Second sliding member; 61. Second sliding through hole; 62. Second mounting through hole; 7. First universal joint; 8. Second universal joint; 9. Second motor; 10. Active arm; 11. Driven arm; 12. Ball pair; 13. Tension spring. DETAILED DESCRIPTION
[0020] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the utility model.
[0021] like Figure 1 , 2 As shown, the utility model provides a lightweight high-speed parallel robot, including a moving platform 2, a static platform 1 and a rotating unit, the rotating unit including a first axis assembly, a second axis assembly, a first sliding member 5 and a second sliding member 6, the first end of the first axis assembly is connected to the static platform 1, the second end of the first axis assembly passes through the first sliding member 5 and is connected to the second sliding member 6; the second end of the second axis assembly is connected to the moving platform 2, the first end of the second axis assembly passes through the second sliding member 6 and is connected to the first sliding member 5.
[0022] The utility model adjusts the relative positions of the first shaft assembly and the second shaft assembly along the first sliding member 5 and the second shaft assembly along the second sliding member 6 to realize the telescopic movement of the rotating unit, so that the rotating unit provided by the utility model can realize torque transmission while also being able to perform telescopic movement and being flexible.
[0023] As an optional embodiment, the rotating unit also includes a first driving part, which is arranged on the static platform 1, the first end of the first shaft assembly is connected to the first driving part through a first universal joint 7, and the second end of the second shaft assembly is connected to the center of the moving platform 2 through a second universal joint 8.
[0024] Furthermore, the first driving unit includes a first motor, the fixed end of the first motor is arranged on the static platform 1, and the output end of the first motor is connected to the first end of the first shaft assembly through the first universal joint 7. The end effector is connected to the central axis of the dynamic platform 2 through a connecting flange, the central axis is connected to the dynamic platform through a bearing, and the second end of the second shaft assembly is connected to the central axis through a second universal joint 8. The first motor drives the first shaft assembly to rotate, drives the second shaft assembly to rotate, and then drives the end effector to rotate through the central axis.
[0025] As an optional embodiment, the first shaft assembly is slidably connected to the first sliding member 5 via a sliding bearing, and the second shaft assembly is slidably connected to the second sliding member 6 via a sliding bearing.
[0026] As an optional embodiment, the first shaft assembly includes two oppositely arranged first aluminum shafts 3, the first ends of the first aluminum shafts 3 are connected to the first universal joint 7 through a fixing member, and the second ends of the first aluminum shafts 3 are connected to the second sliding member 6 after passing through the first sliding member 5; the second shaft assembly includes two oppositely arranged second aluminum shafts 4, the first ends of the second aluminum shafts 4 are connected to the first sliding member 5 after passing through the second sliding member 6, and the second ends of the first aluminum shafts 3 are connected to the second universal joint 8 through a fixing member.
[0027] Furthermore, a first sliding through hole 51 and a first mounting through hole 52 are formed on the first sliding member 5, the first aluminum shaft 3 is slidably connected to the first sliding through hole 51 via a sliding bearing, and the second aluminum shaft 4 is fixedly connected to the first mounting through hole via bolts.
[0028] The second sliding member 6 is provided with a second sliding through hole 61 and a second mounting through hole 62 . The second aluminum shaft 4 is slidably connected to the second sliding through hole 61 via a sliding bearing. The first aluminum shaft 3 is fixedly connected to the second mounting through hole 62 via bolts.
[0029] The sliding bearing can adopt oil-free lubricated sliding bearing, which requires no maintenance, can meet the requirements of long-term use, has light weight and high sliding precision.
[0030] There are two first aluminum shafts 3 and two second aluminum shafts 4 , and the first aluminum shafts 3 and the second aluminum shafts 4 are alternately arranged in sequence along the circumference of the first sliding member 5 to ensure the stability and reliability of the telescopic movement.
[0031] The first aluminum shaft 3 and the second aluminum shaft 4 are made of aluminum alloy. Compared with the traditional steel transmission shaft, the aluminum shaft can reduce its own weight, transmit power quickly, and improve the torque transmission efficiency.
[0032] The first end of the first aluminum shaft 3 is connected to the first universal joint 7 through a fixing part, and the second end of the second aluminum shaft 4 is connected to the second universal joint 8 through a fixing part. Through the combination of the first universal joint 7 and the second universal joint 8, there are two degrees of rotational freedom between the first aluminum shaft 3 and the static platform 1 and the second aluminum shaft 4 and the dynamic platform 2, and the follow-up performance is good.
[0033] As an optional implementation, a parallel arm unit is provided between the moving platform 2 and the stationary platform 1 . There are multiple parallel arm units, which are arranged along the circumference of the stationary platform 1 .
[0034] Furthermore, the number of parallel arm units can be set to three, four or more according to the use requirements. Preferably, the number of parallel arm units is three, and the three parallel arm units are independently controlled and evenly arranged along the circumference of the moving platform 2.
[0035] As an optional embodiment, the parallel arm unit includes a second driving part, an active arm 10 and a driven arm 11. The second driving part is arranged on the static platform 1, the output end of the second driving part is transmission-connected to the first end of the active arm 10, the second end of the active arm 10 is rotationally connected to the first end of the driven arm 11, and the second end of the driven arm 11 is rotationally connected to the moving platform 2.
[0036] Furthermore, the static platform 1 is integrally formed by casting, the dynamic platform 2 is integrally formed by carbon fiber, the active arm 10 is integrally formed by carbon fiber, and the passive arm 11 is an ultra-thin carbon fiber tube. The structural design is simple and the overall lightweight design improves the movement speed and movement accuracy of the robot.
[0037] The second driving part includes a second motor 9, which drives the active arm 10 to rotate and drives the driven arm 11 to swing to adjust the position of the moving platform 2. At the same time, the first aluminum shaft 3 and the second aluminum shaft 4 perform telescopic movement accordingly.
[0038] As an optional implementation, there are two driven arms 11, which are arranged in parallel on both sides of the active arm 10. The first end of the driven arm 11 is rotatably connected to the second end of the active arm 10 through a ball joint 12, and the second end of the driven arm 11 is rotatably connected to the moving platform 2 through the ball joint 12. The two ball joints 12 are connected by a tension spring 13.
[0039] The slave arm 11 is connected to the master arm 10 and the moving platform 2 through a ball joint 12 and a tension spring 13. The structure is simple and the overall lightweight design improves the movement speed and movement accuracy of the robot.
[0040] As an optional implementation, both ends of the tension spring 13 are respectively connected to the ball joint 12 via a connecting piece, a slot is provided on the connecting piece, and a hook is provided at the end of the tension spring 13 to engage with the slot, thereby improving the stability and reliability of the connection between the tension spring 13 and the ball joint 12.
[0041] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.
[0042] In the description of the present utility model, it should be noted that, unless otherwise specified, "multiple" means two or more; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present utility model. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.
[0043] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it 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 an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.
[0044] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "an example" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.
[0045] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.
Claims
1. A lightweight high-speed parallel robot, characterized in that: It includes a moving platform, a static platform and a rotating unit, wherein the rotating unit includes a first shaft assembly, a second shaft assembly, a first sliding member and a second sliding member, wherein the first end of the first shaft assembly is connected to the static platform, and the second end of the first shaft assembly passes through the first sliding member and is connected to the second sliding member; the second end of the second shaft assembly is connected to the moving platform, and the first end of the second shaft assembly passes through the second sliding member and is connected to the first sliding member.
2. A lightweight high-speed parallel robot according to claim 1, characterized in that: The rotating unit also includes a first driving part, which is arranged on the static platform, the first end of the first shaft assembly is connected to the first driving part through a first universal joint, and the second end of the second shaft assembly is connected to the center of the moving platform through a second universal joint.
3. A lightweight high-speed parallel robot according to claim 2, characterized in that: The first shaft assembly is slidably connected to the first sliding member via a sliding bearing, and the second shaft assembly is slidably connected to the second sliding member via a sliding bearing.
4. A lightweight high-speed parallel robot according to claim 3, characterized in that: The first shaft assembly includes two first aluminum shafts arranged opposite to each other, wherein the first end of the first aluminum shaft is connected to the first universal joint via a fixing member, and the second end of the first aluminum shaft is connected to the second sliding member after passing through the first sliding member; the second shaft assembly includes two second aluminum shafts arranged opposite to each other, wherein the first end of the second aluminum shaft is connected to the first sliding member after passing through the second sliding member, and the second end of the first aluminum shaft is connected to the second universal joint via a fixing member.
5. The lightweight high-speed parallel robot according to claim 1, characterized in that: A parallel arm unit is arranged between the moving platform and the static platform. There are a plurality of parallel arm units, which are arranged along the circumference of the static platform.
6. A lightweight high-speed parallel robot according to claim 5, characterized in that: The parallel arm unit includes a second driving part, an active arm and a driven arm. The second driving part is arranged on the static platform. The output end of the second driving part is transmission-connected with the first end of the active arm. The second end of the active arm is rotationally connected with the first end of the driven arm. The second end of the driven arm is rotationally connected with the moving platform.
7. A lightweight high-speed parallel robot according to claim 6, characterized in that: There are two driven arms, which are arranged in parallel on both sides of the active arm. The first end of the driven arm is rotatably connected to the second end of the active arm through a ball joint, and the second end of the driven arm is rotatably connected to the moving platform through a ball joint. The two ball joints are connected by a tension spring.
8. A lightweight high-speed parallel robot according to claim 7, characterized in that: The two ends of the tension spring are respectively connected to the ball pair through a connecting piece, the connecting piece is provided with a clamping groove, and the end of the tension spring is provided with a clamping hook engaged with the clamping groove.
Citation Information
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