Parallel robot mechanism, robot and mechanical equipment

Abstract

The utility model provides a parallel robot mechanism, a robot and mechanical equipment, a driving assembly of the robot mechanism is arranged on a static platform, and the driving assembly is connected with two driving arms so as to drive the two driving arms to act; the static platform and the movable platform are connected through the two driving arms, the four driven arms and the balance branch chains, the balance branch chains comprise the first balance branch chain and the second balance branch chain, and the two ends of the first balance branch chain and the second balance branch chain are hinged to the static platform and the movable platform correspondingly so that when the driving assembly drives the driving arms to act, the balance branch chains can be driven by the driving assembly. The four driven arms and the balance branch chains can synchronously act along with the driving arm, and then the movable platform is driven to act. The first balance branch chain and the second balance branch chain are located in the same plane. And enough support and rigidity are provided for the movable platform.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and in particular to a parallel robot mechanism, a robot and mechanical equipment. Background Art

[0002] In related technologies, the balancing chain structure of a two-axis parallel robot is typically unilaterally supported, meaning it is installed in only one transmission chain to maintain the horizontal motion of the moving platform relative to the stationary platform. This balancing chain structure fails to provide adequate support and rigidity for the moving platform, thereby affecting the platform's speed and stability. Furthermore, most transmission chains have a single driven arm, resulting in poor overall system rigidity. This is detrimental to achieving higher speeds and maintaining high-precision operation. Utility Model Content

[0003] The purpose of the embodiments of the present utility model is to provide a parallel robot mechanism, a robot and a mechanical device.

[0004] The embodiment of the present utility model adopts the following technical solution: a parallel robot mechanism, comprising:

[0005] Static platform, dynamic platform, drive assembly, two active arms, four driven arms and balance branch chain;

[0006] The driving assembly is arranged on the static platform, and the driving assembly is connected to the two active arms to drive the two active arms to move;

[0007] The static platform and the dynamic platform are connected through the two active arms, four driven arms and a balancing branch chain, wherein the balancing branch chain includes a first balancing branch chain and a second balancing branch chain, and the two ends of the first balancing branch chain and the second balancing branch chain are respectively hinged to the static platform and the dynamic platform, so that when the driving component drives the active arm to move, the four driven arms and the balancing branch chain can move synchronously with the active arm, thereby driving the dynamic platform to move; the first balancing branch chain and the second balancing branch chain are located in the same plane.

[0008] In some embodiments, the first balancing branch chain and the second balancing branch chain are respectively located on the left and right sides of the static platform;

[0009] The first balancing branch chain and the second balancing branch chain respectively include an active arm balancing branch chain, a passive arm balancing branch chain and a fulcrum frame;

[0010] One end of the active arm balancing branch chain is hinged to the static platform, the other end of the active arm balancing branch chain is hinged to the upper end of the fulcrum frame, and the active arm balancing branch chain is arranged parallel to the active arm;

[0011] One end of the active arm is connected to the driving assembly, and the other end of the active arm is hinged to the middle part of the fulcrum frame;

[0012] One end of the driven arm is hinged to the lower end of the fulcrum frame, and the other end of the driven arm is hinged to the moving platform;

[0013] One end of the two driven arms located on the same side as the first balancing branch chain or the second balancing branch chain is arranged in parallel, and one end of the two driven arms is respectively hinged to the middle part of the fulcrum frame, and the other end of the two driven arms is respectively hinged to the moving platform.

[0014] In some embodiments, a fulcrum center axis is provided in the middle of the fulcrum frame, and the middle of the fulcrum center axis is hinged to the other end of the active arm through a fulcrum bearing; the two driven arms located on the same side as the first balancing branch chain or the second balancing branch chain are respectively located on the front and rear sides of the active arm, and the fulcrum center axis is hinged to one end of the driven arm through a large joint bearing.

[0015] In some embodiments, a retaining ring and a locking nut are respectively provided on the front and rear sides of the fulcrum center axis corresponding to the fulcrum bearing, and a spacer is also provided between the locking nut and the large joint bearing. The spacer is sleeved on the fulcrum center axis, and the two ends of the spacer are respectively abutted against the locking nut and the large joint bearing.

[0016] In some embodiments, a large washer and a large cap nut are further provided on the fulcrum central axis, and the large washer and the large cap nut are located on a side of the large joint bearing away from the fulcrum bearing.

[0017] In some embodiments, the other end of the active arm balance branch chain is hinged to the upper end of the fulcrum frame, and one end of the driven arm is hinged to the lower end of the fulcrum frame through a fulcrum shaft and a small joint bearing respectively, and a small washer and a small cap nut are also provided on the fulcrum shaft.

[0018] In some embodiments, the other end of the driven arm is hinged to the moving platform through a moving platform shaft and a large joint bearing respectively; and a sleeve is provided between the large joint bearing and the moving platform, and the two ends of the sleeve are respectively in contact with the large joint bearing and the moving platform;

[0019] The other end of the driven arm balance branch chain is hinged to the moving platform through a small support shaft and a small joint bearing.

[0020] The present application also provides a robot comprising the parallel robot mechanism as described in any of the above embodiments.

[0021] The present application also provides a mechanical device, including the robot described in the above embodiment.

[0022] The beneficial effects of the embodiments of the present utility model are:

[0023] The parallel robot mechanism of this utility model comprises a first balancing chain and a second balancing chain, both of which are arranged symmetrically in the same plane about the vertical centerline of the stationary platform. Each balancing chain corresponds to a transmission structure on the same side, which is also symmetrical about the vertical centerline of the stationary platform. To provide sufficient support and rigidity for the dynamic platform, in addition to the two balancing chains, the driven arm structure is a dual-rod support structure, with the dual-rod driven arms symmetrical about the vertical centerline of the stationary platform. To ensure structural reliability and strength, each balancing chain and the driven arm dual-rod rotation points are supported by articulated bearings, facilitating adjustment of the distance between the connecting rods, assembly and disassembly, and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0025] Figure 1 Schematic diagram of the three-dimensional structure of the parallel robot mechanism of the utility model;

[0026] Figure 2 For this utility model Figure 1 Schematic diagram of the front structure;

[0027] Figure 3 For this utility model Figure 2 Schematic diagram of the cross section of AA;

[0028] Figure 4 For this utility model Figure 2 Schematic cross-section of the middle BB;

[0029] Figure 5 For this utility model Figure 2 Schematic cross-section of CC. DETAILED DESCRIPTION

[0030] Various aspects and features of the present application are described herein with reference to the accompanying drawings.

[0031] It should be understood that various modifications may be made to the embodiments of the present application. Therefore, the above description should not be considered as limiting, but merely as an example of an embodiment. Other modifications within the scope and spirit of the present application will occur to those skilled in the art.

[0032] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present application and, together with the general description of the present application given above and the detailed description of the embodiments given below, serve to explain the principles of the present application.

[0033] These and other characteristics of the present application will become apparent from the following description of a preferred form of embodiment given as a non-limiting example with reference to the accompanying drawings.

[0034] It should also be understood that although the present application has been described with reference to certain specific examples, those skilled in the art will readily be able to implement many other equivalent forms of the present application.

[0035] The above and other aspects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.

[0036] Specific embodiments of the present application will be described hereinafter with reference to the accompanying drawings; however, it should be understood that the embodiments described are merely examples of the present application and may be implemented in a variety of ways. Familiar and / or repetitive functions and structures are not described in detail to avoid obscuring the present application with unnecessary or redundant details. Therefore, the specific structural and functional details described herein are not intended to be limiting, but rather serve merely as a basis and representative basis for the claims to teach those skilled in the art to variously utilize the present application with substantially any suitable detailed structure.

[0037] This specification may use the phrases "in one embodiment," "in another embodiment," "in yet another embodiment," or "in other embodiments," which may all refer to one or more of the same or different embodiments according to the present application.

[0038] Without solving the problem in the background technology, the utility model discloses a parallel robot mechanism, combined with Figure 1 and Figure 2 The parallel robot mechanism includes: a static platform 0, a dynamic platform 5, a drive assembly 7, two active arms 3, four driven arms 4 and a balance branch chain.

[0039] The driving assembly 7 is provided on the static platform 0 , and is connected to the two active arms 3 to drive the two active arms 3 to move.

[0040] The static platform 0 and the dynamic platform 5 are connected via the two active arms 3, four passive arms 4, and a balancing chain. The balancing chain includes a first balancing chain and a second balancing chain. The first balancing chain and the second balancing chain are articulated to the static platform and the dynamic platform, respectively, so that when the driving assembly drives the active arm, the four passive arms and the balancing chain can move synchronously with the active arm, thereby driving the dynamic platform. The first balancing chain and the second balancing chain are located in the same plane.

[0041] The dual-balanced chain structure, with both chains arranged in the same plane, enhances the stability and robustness of the parallel robot mechanism. Furthermore, the slave arm adopts a four-bar structure, which increases the rigidity of the parallel robot mechanism and is particularly suitable for robots requiring high-speed motion.

[0042] The first balancing branch chain and the second balancing branch chain are respectively located on the left and right sides of the static platform, and the two can be symmetrically arranged to be able to drive the dynamic platform stably.

[0043] The first balancing branch chain and the second balancing branch chain respectively include an active arm balancing branch chain, a passive arm balancing branch chain and a fulcrum frame 6 .

[0044] One end of the active arm balancing branch chain 1 is hinged to the static platform, the other end of the active arm balancing branch chain 1 is hinged to the upper end 6 - 1 of the fulcrum frame, and the active arm balancing branch chain is arranged parallel to the active arm.

[0045] One end of the active arm is connected to the driving assembly, and the other end of the active arm is hinged to the middle part of the fulcrum frame.

[0046] One end of the driven arm is hinged to the lower end of the fulcrum frame, and the other end of the driven arm is hinged to the moving platform.

[0047] One end of the two driven arms located on the same side as the first balancing branch chain or the second balancing branch chain is arranged in parallel, and one end of the two driven arms is respectively hinged to the middle part of the fulcrum frame, and the other end of the two driven arms is respectively hinged to the moving platform.

[0048] Combine Figure 3 The middle of the fulcrum frame is provided with a fulcrum center shaft 12, and the middle of the fulcrum center shaft 12 is hinged to the other end of the active arm through a fulcrum bearing 16. Figure 1 and Figure 4 The two driven arms on the same side as the first balancing branch chain or the second balancing branch chain are respectively located on the front and rear sides of the active arm, and the fulcrum center axis is hinged to one end of the driven arm through a large joint bearing 13.

[0049] A retaining ring 17 and a locking nut 18 are respectively provided on the front and rear sides of the corresponding fulcrum bearing on the fulcrum center axis 12. A spacer 19 is also provided between the locking nut and the large joint bearing. The spacer 19 is sleeved on the fulcrum center axis, and the two ends of the spacer are respectively in contact with the locking nut and the large joint bearing to prevent the locking nut and the large joint bearing from loosening.

[0050] A large washer 14 and a large cap nut 15 are also provided on the fulcrum center shaft 12 . The large washer and the large cap nut are located on a side of the large joint bearing away from the fulcrum bearing.

[0051] The other end of the active arm balance branch chain 1 is hinged to the upper end of the fulcrum frame, and one end of the driven arm is hinged to the lower end of the fulcrum frame through a fulcrum shaft 9 and a small joint bearing 8 respectively, and a small washer 10 and a small cap nut 11 are also provided on the fulcrum shaft.

[0052] Combine Figure 5 The other end of the driven arm is hinged to the moving platform 5 through the moving platform shaft 21 and the large joint bearing; and a sleeve 20 is provided between the large joint bearing and the moving platform, and the two ends of the sleeve 20 are respectively in contact with the large joint bearing and the moving platform.

[0053] The other end of the movable arm balance branch chain is hinged to the movable platform through a small support shaft 22 and a small joint bearing.

[0054] Specifically, the drive assembly is mounted on the static platform, with one end of the active boom 3 mounted on the drive assembly to enable the active boom 3 to swing up and down. The other end of the active boom 3 has a U-shaped opening, within which the fulcrum frame 6 is located. The fulcrum frame 6 has three openings, including a central hole 6-3 in the center, with a fulcrum bearing 16 mounted on either side of the central hole 6-3. The fulcrum frame 6 is secured to the U-shaped opening in the active boom 3 by the two installed fulcrum bearings 16, the fulcrum center shaft 12, the retaining ring 17, and the locking nut 18.

[0055] The other two hole ends of the fulcrum frame 6 are also U-shaped opening structures. The small joint bearings 8 are placed in the U-shaped opening positions respectively. The small joint bearings 8 at one end of the two balancing branches are fixed by the fulcrum shaft 9, small washer 10 and small cap nut 11. The joint bearings can rotate, and the fulcrum frame 6 can rotate within a limited range within the U-shaped opening of the active arm 3.

[0056] Of the two balancing branches, one end of the active arm balancing branch 1 is connected to the stationary platform via a small joint bearing 8, and the other end is the small joint bearing 8 at the upper end 6-1 of the fulcrum frame. One end of the passive arm balancing branch 2 is the small joint bearing 8 at the lower end 6-2 of the fulcrum frame, and the other end is connected to the moving platform 5 via another small joint bearing 8. The small joint bearing 8 at this end is fixed to the moving platform 5 via a small support shaft 22, a small washer 10, and a small cap nut 11.

[0057] At each end of the fulcrum center shaft 12, two large spherical plain bearings 13 are fixed to the fulcrum center shaft 12 via large washers 14 and large cap nuts 15. These two large spherical plain bearings 13 can rotate around the fulcrum center shaft 12. This is one end of the two ends of the double-rod structure of the slave arm of the transmission chain, that is, it is connected to the master arm 3 through the fulcrum frame 6. The other end of the slave arm double-rod structure is another two large spherical plain bearings 13. This end is also fixed to the ends of the moving platform shaft 21 installed in the moving platform 5 via two more large washers 14 and two more large cap nuts 15. The moving platform shaft 21 is firmly fixed to the moving platform 5 via set screws.

[0058] The above-mentioned balancing branch chain includes an active arm balancing branch chain 1, a fulcrum frame 6 and a passive arm balancing branch chain 2; the transmission chain includes an active arm 3, a fulcrum frame 6 and a passive arm 4. Power is transmitted through the transmission chain, and the power of the drive assembly 7 is transmitted to the end of the moving platform 5, realizing the reciprocating motion of the moving platform 5 in the plane. The function of the balancing branch chain is to maintain the posture of the moving platform and the horizontal motion relative to the static platform. Among them: the active arm balancing branch chain 1, the fulcrum frame 6, the passive arm balancing branch chain 2, the active arm 3 and the two passive arms 4 are all 2 groups, and the four points A, B, C, and D formed by the static platform, the active arm 3, the fulcrum frame 6 and the active arm balancing branch chain 1 form a group of parallelograms; the four points D, E, F, and G formed by the two passive arms 4, the fulcrum frame 6 and the passive arm balancing branch chain 2 form a second group of equal quadrilateral structures. The characteristics of these two groups of equal quadrilateral structures realize the reciprocating horizontal operation of the two-axis parallel robot in a plane.

[0059] The present application also provides a robot comprising the parallel robot mechanism as described in any of the above embodiments.

[0060] The present application also provides a mechanical device, including the robot described in the above embodiment.

[0061] The above describes in detail several embodiments of the present invention, but the present invention is not limited to these specific embodiments. Those skilled in the art can make various variations and modifications based on the concept of the present invention, and these variations and modifications should fall within the scope of protection claimed by the present invention.

Claims

1. A parallel robot mechanism, characterized in that: include: Static platform, dynamic platform, drive assembly, two active arms, four driven arms and balance branch chain; The driving assembly is arranged on the static platform, and the driving assembly is connected to the two active arms to drive the two active arms to move; The static platform and the dynamic platform are connected through the two active arms, four driven arms and a balancing branch chain, wherein the balancing branch chain includes a first balancing branch chain and a second balancing branch chain, and the two ends of the first balancing branch chain and the second balancing branch chain are respectively hinged to the static platform and the dynamic platform, so that when the driving component drives the active arm to move, the four driven arms and the balancing branch chain can move synchronously with the active arm, thereby driving the dynamic platform to move; the first balancing branch chain and the second balancing branch chain are located in the same plane.

2. The parallel robot mechanism according to claim 1, characterized in that: The first balancing branch chain and the second balancing branch chain are respectively located on the left and right sides of the static platform; The first balancing branch chain and the second balancing branch chain respectively include an active arm balancing branch chain, a passive arm balancing branch chain and a fulcrum frame; One end of the active arm balancing branch chain is hinged to the static platform, the other end of the active arm balancing branch chain is hinged to the upper end of the fulcrum frame, and the active arm balancing branch chain is arranged parallel to the active arm; One end of the active arm is connected to the driving assembly, and the other end of the active arm is hinged to the middle part of the fulcrum frame; One end of the driven arm is hinged to the lower end of the fulcrum frame, and the other end of the driven arm is hinged to the moving platform; One end of the two driven arms located on the same side as the first balancing branch chain or the second balancing branch chain is arranged in parallel, and one end of the two driven arms is respectively hinged to the middle part of the fulcrum frame, and the other end of the two driven arms is respectively hinged to the moving platform.

3. The parallel robot mechanism according to claim 2, characterized in that: A fulcrum center axis is provided in the middle of the fulcrum frame, and the middle of the fulcrum center axis is hinged to the other end of the active arm through a fulcrum bearing; the two driven arms located on the same side as the first balancing branch chain or the second balancing branch chain are respectively located on the front and rear sides of the active arm, and the fulcrum center axis is hinged to one end of the driven arm through a large joint bearing.

4. The parallel robot mechanism according to claim 3, characterized in that: A retaining ring and a locking nut are respectively provided on the front and rear sides of the fulcrum center axis corresponding to the fulcrum bearing. A spacer is also provided between the locking nut and the large joint bearing. The spacer is sleeved on the fulcrum center axis, and the two ends of the spacer are respectively abutted against the locking nut and the large joint bearing.

5. The parallel robot mechanism according to claim 3, characterized in that: A large washer and a large cap nut are also provided on the fulcrum central shaft. The large washer and the large cap nut are located on a side of the large joint bearing away from the fulcrum bearing.

6. The parallel robot mechanism according to claim 3, characterized in that: The other end of the active arm balance branch chain is hinged to the upper end of the fulcrum frame, and one end of the driven arm is hinged to the lower end of the fulcrum frame through a fulcrum shaft and a small joint bearing respectively, and a small washer and a small cap nut are also provided on the fulcrum shaft.

7. The parallel robot mechanism according to claim 2, characterized in that: The other end of the driven arm is hinged to the moving platform through the moving platform shaft and the large joint bearing; a sleeve is provided between the large joint bearing and the moving platform, and the two ends of the sleeve are respectively in contact with the large joint bearing and the moving platform; The other end of the driven arm balance branch chain is hinged to the moving platform through a small support shaft and a small joint bearing.

8. A robot, characterized in that: The method comprises the parallel robot mechanism as claimed in any one of claims 1 to 7.

9. A mechanical device, characterized in that: Comprising the robot as claimed in claim 8.

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