Inverted six-degree-of-freedom parallel robot

Abstract

The utility model provides an inverted six-degree-of-freedom parallel robot. The robot comprises a base, a tail end clamping jaw and three mechanical arms. Each mechanical arm is composed of a rotating arm, a motor assembly, an auxiliary arm and a driven arm, and the motor assemblies are arranged on the base and connected with the rotating arms to achieve circumferential rotation. The auxiliary arm is hinged to the rotating arm, and the driven arm is hinged to the auxiliary arm and the tail end clamping jaw. The tail end clamping jaw comprises three transmission devices and a clamping jaw body, the three transmission devices are correspondingly hinged to the three driven arms, and the two transmission devices are correspondingly hinged to the clamping jaw body to drive the clamping jaw body to be opened and closed. The utility model has the characteristics of small floor area and convenience in movement, and is suitable for various operation occasions.

Description

Technical Field

[0001] The utility model relates to a six-degree-of-freedom parallel robot installed in an inverted manner. Background Art

[0002] In the field of industrial robots, robots are usually installed on a production line for product production. However, due to various rigid requirements for the installation method and movement range of existing traditional parallel spider robots, the parallel robot usually needs to be installed upside down at the upper end of the rack. After the end of the manipulator is perpendicular to the working plane, the robot moves downward to complete the grasping action. Moreover, in a production workshop with a narrow space or limited height, the installation rack of the traditional parallel robot has too large a floor area and too high an overall height of the rack, which cannot meet the actual situation on site. It not only fails to realize the function of the robot on the production line to grasp materials, but also causes a sharp drop in the space utilization rate inside the factory. The robot rack increases the overall cost of the robot and makes the appearance look too bulky. At the same time, most of the traditional spider-hand parallel robots used on current automated production lines are 3-degree-of-freedom robots and 4-degree-of-freedom robots, which do not meet the grasping work of some multi-degree-of-freedom space operations.

[0003] Therefore, how to ensure more degrees of freedom of the robotic arm, while making the floor area of the robotic arm smaller and the movement more convenient, is a technical problem that needs to be solved by those skilled in the art at present. Summary of the Utility Model

[0004] The purpose of the utility model is to solve the above-mentioned deficiencies of the prior art, and provide a six-degree-of-freedom parallel robot installed in an inverted manner. Through the combination between robotic arms, more degrees of freedom of the robotic arm are ensured, while making the floor area of the robotic arm smaller and the movement more convenient. The following are the specific solutions:

[0005] A six-degree-of-freedom parallel robot installed in an inverted manner includes a base, an end gripper, and three robotic arms disposed between the base and the end. Each of the three robotic arms includes: a rotating arm, a motor assembly, an auxiliary arm, and a driven arm; the motor assembly is disposed on the base, and the motor assembly is connected to the rotating arm for driving the rotating arm to rotate circumferentially; one end of the auxiliary arm is hinged to the rotating arm; one end of the driven arm is hinged to the auxiliary arm, and the other end of the driven arm is hinged to the end gripper; the end gripper includes three transmission devices and a gripper, and the three transmission devices are correspondingly hinged to the three driven arms; two of the transmission devices are correspondingly hinged to the gripper for driving the opening and closing of the gripper.

[0006] Furthermore, the base is triangular in shape as a whole. The motor assembly in each robotic arm includes a first motor, a second motor, and a third motor. An installation part is provided at each corner of the triangle, and the first motor is provided on the installation part. The shaft of the first motor is connected to a motor mounting plate, enabling the motor mounting plate to rotate around the horizontal direction; the rotating arm includes a first rotating arm, a second rotating arm, and an auxiliary arm. A second motor and a third motor are fixed on both sides of the motor mounting plate respectively. The first rotating arm is connected to the shaft of the second motor, and the second rotating arm is connected to the shaft of the third motor, enabling both the first rotating arm and the second rotating arm to rotate around the horizontal direction. The first rotating arm is connected to the auxiliary arm through a bearing, the auxiliary arm is connected to the driven arm through a bearing, and the second rotating arm is connected to the driven arm through a bearing. The first rotating arm, the second rotating arm, the auxiliary arm, and the driven arm are connected in a parallelogram shape.

[0007] Furthermore, the motor mounting plate is in a U-shaped structure. The first motor is connected to the bottom of the motor mounting plate, the second motor and the third motor are arranged on the outer side of the motor mounting plate, and the first rotating arm and the second rotating arm are arranged on the inner side of the motor mounting plate.

[0008] Furthermore, a harmonic reducer is provided between the first motor and the motor mounting plate, a harmonic reducer is provided between the second motor and the motor mounting plate, and a harmonic reducer is provided between the third motor and the motor mounting plate. These motors precisely control the movement through the harmonic reducers to ensure high precision.

[0009] Furthermore, a rotating fork is clamped at one end of the driven arm, enabling the rotating fork to rotate around the axis of the driven arm. A rotating shaft is rotatably provided inside the rotating fork, and one end of the rotating shaft is fixed to the end gripper.

[0010] Furthermore, the fixed end of the rotating shaft is clamped to the end gripper, enabling the end gripper to rotate around the axis of the rotating shaft.

[0011] Furthermore, the end gripper further includes a fixing plate. The transmission devices are all provided on the fixing plate through bearings. The transmission device is in a parallelogram structure, and a connecting rod is fixed on the transmission device. The transmission device is connected to the gripper through the connecting rod.

[0012] Furthermore, an electrical cabinet is fixedly provided at the lower end of the base. Floor-mounted wheels are provided below the electrical cabinet, and the base and the electrical cabinet are connected through a pipeline.

[0013] Furthermore, an outer shell is provided on the outer side of each motor assembly.

[0014] Furthermore, a base cover is provided on the base. A plurality of heat dissipation holes are provided on the base cover, and an exhaust air channel is provided on the base.

[0015] Beneficial effects: It solves the problem of the small working range of serial robots. To prevent electrical problems caused by excessive twisting of internal wires, serial robots can only move within a range of 180° in front of a fixed position. Due to the characteristics of its structure, parallel robots can rely on inertia to pass through dead points during operation, and the twisting of internal electrical wires during operation will not exceed 180°, which can significantly increase the working range during operation;

[0016] In this solution, the robot electric cabinet is placed below the robot body, and the overall structural weight is much lower than that of the parallel robot frame. Installing castors below can not only play a supporting role but also be changed into a universal wheel structure at any time, facilitating the rapid movement of the robot;

[0017] In the present invention, by optimizing the installation position of the motors, the three motors are installed separately, and by adding a number of heat dissipation holes and exhaust channels on the base cover, an air duct is formed to dissipate heat from the motors, strengthening the heat dissipation effect while ensuring aesthetics;

[0018] This parallel robot has six degrees of freedom. Therefore, it can not only move in the horizontal and vertical directions but also perform complex spatial movements such as rotation and tilting, making the robot very suitable for fine assembly work, such as inserting a certain part into another component at a specific angle or placing an object in a narrow space. Description of the Drawings

[0019] Figure 1 is a three-dimensional perspective view of an inverted six-degree-of-freedom parallel robot;

[0020] Figure 2 is another three-dimensional perspective view of an inverted six-degree-of-freedom parallel robot;

[0021] Figure 3 is a three-dimensional perspective view of the base of an inverted six-degree-of-freedom parallel robot;

[0022] Figure 4 is a three-dimensional perspective view of the base of an inverted six-degree-of-freedom parallel robot;

[0023] Figure 5 is a three-dimensional perspective view of the manipulator of an inverted six-degree-of-freedom parallel robot;

[0024] Figure 6 is a three-dimensional perspective view of the motor mounting plate of an inverted six-degree-of-freedom parallel robot;

[0025] Figure 7 is a three-dimensional perspective view of the end gripper of an inverted six-degree-of-freedom parallel robot;

[0026] Figure 8 It is a three-dimensional perspective schematic diagram of another perspective of the end gripper of an inverted six-degree-of-freedom parallel robot;

[0027] Figure 9 It is a three-dimensional perspective schematic diagram of the rotating fork of an inverted six-degree-of-freedom parallel robot;

[0028] Figure 10 It is a sectional perspective schematic diagram of the rotating fork of an inverted six-degree-of-freedom parallel robot;

[0029] In the figure: 100, base; 110, exhaust passage; 200, end gripper; 210, fixed disk; 220, transmission device; 230, connecting rod; 400, robotic arm; 410, rotating arm; 411, auxiliary arm; 412, first rotating arm; 413, second rotating arm; 420, motor assembly; 421, first motor; 422, second motor; 423, third motor; 440, driven arm; 450, rotating fork; 460, rotating shaft; 500, mounting part; 510, motor mounting plate; 520, harmonic reducer; 600, electrical cabinet; 610, Foma wheel; 700, housing; 800, base cover; 810, heat dissipation holes. Detailed implementation manners

[0030] To deepen the understanding of the present utility model, the present utility model will be further described in detail below in conjunction with embodiments and drawings. The embodiments are only used to explain the present utility model and do not constitute a limitation to the protection scope of the present utility model.

[0031] Please refer to Figures 1-10 , an inverted six-degree-of-freedom parallel robot, including a base 100, an end gripper 200, and three robotic arms 400 disposed between the base 100 and the end. Each of the three robotic arms 400 includes: a rotating arm 410, a motor assembly 420, an auxiliary arm 411, and a driven arm 440; the motor assembly 420 is disposed on the base 100, and the motor assembly 420 is connected to the rotating arm 410 for driving the rotating arm 410 to rotate circumferentially; one end of the auxiliary arm 411 is hinged to the rotating arm 410; one end of the driven arm 440 is hinged to the auxiliary arm 411, and the other end of the driven arm 440 is hinged to the end gripper 200; the end gripper 200 includes three transmission devices 220 and grippers. The three transmission devices 220 are correspondingly hinged to the three driven arms 440; two transmission devices 220 are correspondingly hinged to the grippers for driving the opening and closing of the grippers.

[0032] The base 100 is triangular as a whole. Each motor assembly 420 in each robotic arm 400 includes a first motor 421, a second motor 422, and a third motor 423. A mounting member 500 is provided at each corner of the triangle. The first motor 421 is provided on the mounting member 500. The shaft of the first motor 421 is connected to the motor mounting plate 510 so that the motor mounting plate 510 can rotate around the horizontal direction. The rotating arm 410 includes a first rotating arm 412, a second rotating arm 413, and an auxiliary arm 411. The second motor 422 and the third motor 423 are fixed on both sides of the motor mounting plate 510 respectively. The first rotating arm 412 is connected to the shaft of the second motor 422, and the second rotating arm 413 is connected to the shaft of the third motor 423 so that both the first rotating arm 412 and the second rotating arm 413 can rotate around the horizontal direction. The first rotating arm 412 is connected to the auxiliary arm 411 through a bearing, the auxiliary arm 411 is connected to the driven arm 440 through a bearing, and the second rotating arm 413 is connected to the driven arm 440 through a bearing. The first rotating arm 412, the second rotating arm 413, the auxiliary arm 411, and the driven arm 440 are connected in a parallelogram shape.

[0033] The motor mounting plate 510 is of a U-shaped structure. The first motor 421 is connected to the bottom of the motor mounting plate 510. The second motor 422 and the third motor 423 are arranged on the outer side of the motor mounting plate 510. The first rotating arm 412 and the second rotating arm 413 are arranged on the inner side of the motor mounting plate 510. A harmonic reducer 520 is provided between the first motor 421 and the motor mounting plate 510. A harmonic reducer 520 is provided between the second motor 422 and the motor mounting plate 510. A harmonic reducer 520 is provided between the third motor 423 and the motor mounting plate 510. One end of the driven arm 440 is clamped with a rotating fork 450 so that the rotating fork 450 can rotate around the axis of the driven arm 440. A rotating shaft 460 is rotatably provided inside the rotating fork 450. One end of the rotating shaft 460 is fixed to the end effector 200. The fixed end of the rotating shaft 460 is clamped with the end effector 200 so that the end effector 200 can rotate around the axis of the rotating shaft 460. The end effector 200 further includes a fixed disk 210. The transmission device 220 is provided on the fixed disk 210 through bearings. The transmission device 220 is of a parallelogram structure. A connecting rod 230 is fixed on the transmission device 220. The transmission device 220 is connected to the jaw through the connecting rod 230. An electrical cabinet 600 is fixedly provided at the lower end of the base 100. A Fuma wheel 610 is provided below the electrical cabinet 600. The base 100 and the electrical cabinet 600 are connected through a pipeline. An outer shell 700 is provided on the outer side of each motor assembly 420. A base cover 800 is provided on the base 100. A plurality of heat dissipation holes 810 are provided on the base cover 800. An exhaust passage 110 is provided on the base 100.

[0034] The working principle of this six-degree-of-freedom parallel robot with an inverted installation is as follows:

[0035] The first motor 421 rotates the robotic arm 400 about the x-axis, and the second motor 422 and the third motor 423 rotate the robotic arm 400 about the y-axis. Meanwhile, the rotating arm 410, the auxiliary arm 411, and the driven arm 440 enable the end of the robotic arm 400 to move in the z-axis direction and assist in the movement of the x-axis and y-axis. In this embodiment, the opening and closing of the end gripper 200 rely on the movement control of the two robotic arms 400, specifically as follows: The robotic arm 400 moves inward, causing the transmission device 220 to move relative to the fixed disk 210. The transmission device 220 then drives the connecting rod 230 to move, causing the connecting rod 230 to drive the gripper to move inward. This parallel robot has six degrees of freedom, so it can not only move in the horizontal and vertical directions, but also perform complex spatial movements such as rotation and tilting, which makes the robot very suitable for fine assembly work.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the purpose and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. An inverted six-degree-of-freedom parallel robot, characterized in that, It includes a base, an end gripper, and three robotic arms disposed between the base and the end. Each of the three robotic arms includes: a rotating arm, a motor assembly, an auxiliary arm, and a driven arm; the motor assembly is disposed on the base, and the motor assembly is connected to the rotating arm for driving the rotating arm to rotate circumferentially; one end of the auxiliary arm is hinged to the rotating arm; one end of the driven arm is hinged to the auxiliary arm, and the other end of the driven arm is hinged to the end gripper; the end gripper includes three transmission devices and a gripper, and the three transmission devices are correspondingly hinged to the three driven arms; two of the transmission devices are correspondingly hinged to the gripper for driving the opening and closing of the gripper.

2. The six-degree-of-freedom parallel robot installed in an inverted manner according to claim 1, characterized in that, The base is integrally triangular. The motor assembly in each robotic arm includes a first motor, a second motor, and a third motor. An installation member is provided at each corner of the triangle, and the first motor is provided on the installation member. The shaft of the first motor is connected to a motor mounting plate so that the motor mounting plate can rotate around the horizontal direction; the rotating arm includes a first rotating arm, a second rotating arm, and an auxiliary arm. A second motor and a third motor are fixed on both sides of the motor mounting plate respectively. The first rotating arm is connected to the shaft of the second motor, and the second rotating arm is connected to the shaft of the third motor so that both the first rotating arm and the second rotating arm can rotate around the horizontal direction. The first rotating arm is connected to the auxiliary arm through a bearing, the auxiliary arm is connected to the driven arm through a bearing, and the second rotating arm is connected to the driven arm through a bearing. The first rotating arm, the second rotating arm, the auxiliary arm, and the driven arm are connected in a parallelogram structure.

3. The six-degree-of-freedom parallel robot installed in an inverted manner according to claim 2, wherein, The motor mounting plate is of a U-shaped structure. The first motor is connected to the bottom of the motor mounting plate, and the second motor and the third motor are disposed outside the motor mounting plate. The first rotating arm and the second rotating arm are disposed inside the motor mounting plate.

4. The six-degree-of-freedom parallel robot installed in an inverted manner according to claim 3, wherein A harmonic reducer is provided between the first motor and the motor mounting plate, a harmonic reducer is provided between the second motor and the motor mounting plate, and a harmonic reducer is provided between the third motor and the motor mounting plate.

5. A six-degree-of-freedom parallel robot installed in an inverted manner according to claim 1, characterized in that, A rotating fork is clamped at one end of the driven arm so that the rotating fork can rotate around the axis of the driven arm. A rotating shaft is rotatably provided inside the rotating fork, and one end of the rotating shaft is fixed to the end gripper.

6. The six-degree-of-freedom parallel robot installed in an inverted manner according to claim 5, characterized in that, The fixed end of the rotating shaft is clamped to the end gripper so that the end gripper can rotate around the axis of the rotating shaft.

7. A six-degree-of-freedom parallel robot installed in an inverted manner according to claim 1, characterized in that, The end gripper further includes a fixed disk. The transmission devices are all disposed on the fixed disk through bearings. The transmission devices are of a parallelogram structure, and a connecting rod is fixed on the transmission device. The transmission device is connected to the gripper through the connecting rod.

8. A six-degree-of-freedom parallel robot with an inverted installation according to claim 1, characterized in that, An electrical cabinet is fixedly provided at the lower end of the base. Floor-mounted wheels are provided below the electrical cabinet. The base and the electrical cabinet are communicated through a pipeline.

9. The six-degree-of-freedom parallel robot installed in an inverted manner according to claim 1, wherein Housings are provided outside the motor assemblies.

10. A six-degree-of-freedom parallel robot installed in an inverted manner according to any one of claims 1-9, characterized in that, A base cover is provided on the base. A plurality of heat dissipation holes are provided on the base cover, and an exhaust passage is provided on the base.

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