Movable six-degree-of-freedom parallel robot

Abstract

The utility model discloses a movable six-degree-of-freedom parallel robot, which relates to the technical field of parallel robots and comprises an upper platform, a steering device and a support rod mechanism. Wherein the supporting rod mechanism comprises a telescopic supporting rod, a direct connection upper hinging piece, a motor connecting seat, a band-type brake, a double-lug tail plate and a hooke joint mechanism. The steering device comprises a steering wheel mechanism and a damping mechanism. According to the six-degree-of-freedom parallel robot, the six supporting rod mechanisms with the linear actuators, the upper platform and the six steering devices are arranged to form the six-degree-of-freedom parallel robot, the six-degree-of-freedom movement of the upper platform in the space can be controlled through the telescopic movement of the six supporting rod mechanisms, the mechanical platform is of a parallel structure, namely six drivers jointly act on one platform, and therefore the six-degree-of-freedom parallel robot is achieved. The translation of the upper platform along the X axis, the Y axis and the Z axis and the rotation movement of the upper platform around the X axis, the Y axis and the Z axis are achieved, and the movable type six-degree-of-freedom parallel robot can have the high speed, the high load capacity, the high flexibility and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of parallel robots, in particular to a mobile six-degree-of-freedom parallel robot. Background Art

[0002] In industrial applications, six-degree-of-freedom parallel robots play an important role in the dynamic reliability research of aircraft, vehicle-mounted, and aerospace systems. Their kinematic analysis models are also of great significance for simulation training of pilots and drivers.

[0003] In the research of mobile robots, previous serial robots usually have shortcomings such as slow speed, limited load capacity, and poor flexibility. In order to solve the shortcomings of serial robots such as slow speed, limited load capacity, and poor flexibility, it is urgent to design a mobile six-degree-of-freedom parallel robot. Utility Model Content

[0004] Purpose of the utility model: In view of the above shortcomings, the utility model provides a mobile six-degree-of-freedom parallel robot to solve the above problems existing in the prior art.

[0005] Technical solution: A mobile six-degree-of-freedom parallel robot includes an upper platform, a plurality of steering devices, and a support rod mechanism installed between the upper platform and the plurality of steering devices.

[0006] The support rod mechanism includes a telescopic support rod, a directly connected upper hinge, a motor connecting seat, a brake, a double-ear tail plate and a Hook hinge mechanism.

[0007] The directly connected upper hinge is installed at the end of the telescopic support rod, the motor connecting seat is connected to the end of the telescopic support rod away from the directly connected upper hinge, the brake is provided at the end of the motor connecting seat away from the telescopic support rod, the double-ear tail plate is connected to the end of the brake away from the motor connecting seat, a pair of Hooke's hinge mechanisms are provided, and the pair of Hooke's hinge mechanisms are respectively connected to the directly connected upper hinge and the double-ear tail plate, and the directly connected upper hinge is connected to the upper platform via the Hooke's hinge mechanism.

[0008] The steering device includes a steering wheel mechanism and a shock absorbing mechanism.

[0009] The shock absorbing mechanism is connected to the Hook hinge mechanism connected to the double-ear tail plate, and the steering wheel mechanism is connected to the shock absorbing mechanism to drive the entire device to move.

[0010] In a further embodiment, six groups of the steering devices are provided, and six support rod mechanisms are provided. The six support rod mechanisms drive the upper platform to move in multiple degrees of freedom through telescopic movement.

[0011] In a further embodiment, the telescopic support rod includes a guide rod, an upper end cover, a cylinder and a lower end cover.

[0012] The guide rod is connected to the directly connected upper hinge, the cylinder is arranged on the outside of the guide rod and is slidably connected to the guide rod, the upper end cover is installed at the end of the cylinder close to the guide rod, and the lower end cover is installed at the end of the cylinder away from the guide rod.

[0013] In a further embodiment, the Hooke's hinge mechanism includes a vertical Hooke's hinge ball head, a vertical Hooke's hinge cover plate, a vertical Hooke's hinge cavity and a vertical Hooke's hinge base.

[0014] In which, the vertical Hooke's hinge cover plate is connected to the vertical Hooke's hinge ball head, the vertical Hooke's hinge middle cavity is connected to the side of the vertical Hooke's hinge cover plate away from the vertical Hooke's hinge ball head, the vertical Hooke's hinge base is connected to the side of the vertical Hooke's hinge middle cavity away from the vertical Hooke's hinge cover plate, a pair of vertical Hooke's hinge ball heads of the Hooke's hinge mechanism are respectively connected to the double-ear tail plate and the directly connected upper hinge member, and a pair of vertical Hooke's hinge bases of the Hooke's hinge mechanism are respectively connected to the shock absorbing mechanism and the upper platform.

[0015] In a further embodiment, the shock absorbing mechanism includes a steering wheel fixing plate, a connecting rod fixing seat, a slider upper fixing plate, a shock absorbing connecting rod, a shock absorbing spring and a guide mounting seat.

[0016] In which, the steering wheel fixing plate is connected to the steering wheel mechanism, the connecting rod fixing seat is installed on the steering wheel fixing plate, the upper fixing plate of the slider is connected to the vertical Hook's hinge base of the Hook's hinge mechanism, the shock-absorbing connecting rod is installed on the connecting rod fixing seat, the guide mounting seat is connected to the side of the upper fixing plate of the slider away from the Hook's hinge mechanism, and the shock-absorbing spring is connected between the guide mounting seat and the shock-absorbing connecting rod.

[0017] In a further embodiment, the shock absorbing mechanism further includes a guide locking plate on the slider, a slider guide rod and a shock absorbing slider.

[0018] Among them, the guide locking plate on the slider is installed on the side of the fixed plate on the slider away from the Hooke's hinge mechanism, the shock-absorbing slider is slidably set on the guide locking plate on the slider and is connected to the shock-absorbing connecting rod, and the slider guide rod is penetrated and set on the guide mounting seat and is slidably connected to the shock-absorbing slider, which is used to guide the movement of the shock-absorbing slider.

[0019] Beneficial effect: The utility model discloses a mobile six-degree-of-freedom parallel robot, which is composed of six support rod mechanisms with linear actuators, an upper platform and six steering devices. The six-degree-of-freedom parallel robot can control the six-degree-of-freedom movement of the upper platform in space through the telescopic movement of the six support rod mechanisms. The mechanical platform has a parallel structure, that is, six drivers act on one platform together, realizing the translation of the upper platform along the X, Y, and Z axes and the rotational movement around the X, Y, and Z axes, which can enable the mobile six-degree-of-freedom parallel robot to have a faster speed, higher load capacity and flexibility, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic structural diagram of the utility model as a whole.

[0021] Figure 2 It is a structural diagram of the support rod mechanism of the utility model.

[0022] Figure 3 This is a structural diagram of the shock absorbing mechanism and steering wheel of the utility model.

[0023] The reference numerals in the figure are: 1. upper platform; 2. support rod mechanism; 201. direct upper hinge; 202. guide rod; 203. upper end cover; 204. cylinder; 205. lower end cover; 206. motor connecting seat; 207. brake; 208. double-ear tail plate; 209. vertical Hooker hinge ball head; 210. vertical Hooker hinge cover plate; 211. vertical Hooker hinge middle cavity; 212. vertical Hooker hinge base; 3. steering wheel mechanism; 4. shock absorption mechanism; 401. steering wheel fixing plate; 402. connecting rod fixing seat; 403. slider upper fixing plate; 404. slider upper guide locking plate; 405. slider guide rod; 406. shock absorption connecting rod; 407. shock absorption spring; 408. shock absorption slider; 409. guide mounting seat. DETAILED DESCRIPTION

[0024] In the following description, numerous specific details are provided to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention can be practiced without one or more of these details. In other instances, certain technical features known in the art are not described to avoid confusion with the present invention.

[0025] The applicant believes that existing serial robots generally have shortcomings such as slow speed, limited load capacity, and poor flexibility. In order to solve the shortcomings of serial robots such as slow speed, limited load capacity, and poor flexibility, it is urgent to design a mobile six-degree-of-freedom parallel robot.

[0026] To this end, the applicant proposed a mobile six-degree-of-freedom parallel robot, such as Figure 1-Figure 3As shown, it includes an upper platform 1, a plurality of steering devices, and a support rod mechanism 2 installed between the upper platform 1 and the plurality of steering devices.

[0027] In this application, the six-degree-of-freedom parallel robot is mainly composed of six support rod mechanisms 2 with linear actuators, an upper platform 1 and six steering devices. The telescopic movement of the six support rod mechanisms 2 controls the movement of the upper platform 1 in six degrees of freedom in space. This mechanical platform has a parallel structure, that is, six drivers act together on one platform, realizing the translation of the upper platform 1 along the X, Y, and Z axes and the rotational movement around the X, Y, and Z axes. The support rod mechanism 2 includes a first parallel support rod, a second parallel support rod, a third parallel support rod, a fourth parallel support rod, a fifth parallel support rod and a sixth parallel support rod. The six support rod structures are all the same. When in use, the target component can be fixed to the upper platform 1 through tooling to ensure that the target component moves with the upper platform 1, thereby achieving the target posture adjustment effect.

[0028] Through this application, the mobile six-degree-of-freedom parallel robot can have faster speed, higher load capacity and flexibility. At the same time, the specific implementation method of the mobile six-degree-of-freedom parallel robot involves multiple aspects, including mechanical structure design, kinematic analysis modeling, rapid solution method and motion control. This application mainly involves mechanical structure aspects.

[0029] like Figure 1-Figure 2 As shown, the support rod mechanism 2 includes a telescopic support rod, a directly connected upper hinge 201, a motor connecting seat 206, a brake 207, a double-ear tail plate 208 and a Hooke's hinge mechanism.

[0030] Among them, the direct-connected upper hinge 201 is installed at the end of the telescopic support rod, the motor connecting seat 206 is connected to the end of the telescopic support rod away from the direct-connected upper hinge 201, the brake 207 is arranged at the end of the motor connecting seat 206 away from the telescopic support rod, and the double-ear tail plate 208 is connected to the end of the brake 207 away from the motor connecting seat 206. A pair of Hooke's hinge mechanisms are provided, and the pair of Hooke's hinge mechanisms are respectively connected to the direct-connected upper hinge 201 and the double-ear tail plate 208. The direct-connected upper hinge 201 is connected to the upper platform 1 through the Hooke's hinge mechanism.

[0031] In addition, the telescopic support rod includes a guide rod 202, an upper end cover 203, a cylinder 204 and a lower end cover 205, and the Hooker hinge mechanism includes a vertical Hooker hinge ball head 209, a vertical Hooker hinge cover plate 210, a vertical Hooker hinge middle cavity 211 and a vertical Hooker hinge base 212.

[0032] Among them, the guide rod 202 is connected to the direct upper hinge 201, the cylinder 204 is arranged on the outside of the guide rod 202 and is slidably connected to the guide rod 202, the upper end cover 203 is installed on the end of the cylinder 204 close to the guide rod 202, and the lower end cover 205 is installed on the end of the cylinder 204 away from the guide rod 202, the vertical Hook's hinge cover plate 210 is connected to the vertical Hook's hinge ball head 209, and the vertical Hook's hinge middle cavity 211 is connected to the vertical Hook's hinge. The cover plate 210 is connected to a side away from the vertical Hooke's joint ball head 209, the vertical Hooke's joint base 212 is connected to a side of the vertical Hooke's joint middle cavity 211 away from the vertical Hooke's joint cover plate 210, a pair of vertical Hooke's joint ball heads 209 of the Hooke's joint mechanism are respectively connected to the double-ear tail plate 208 and the directly connected upper hinge 201, and a pair of vertical Hooke's joint bases 212 of the Hooke's joint mechanism are respectively connected to the shock absorbing mechanism 4 and the upper platform 1.

[0033] In the present application, each support rod mechanism 2 has the same structure, mainly including a direct upper hinge 201, a guide rod 202, an upper end cover 203, a cylinder 204, a lower end cover 205, a motor connection seat 206, a brake 207, a double-ear tail plate 208, a vertical Hooker joint ball head 209, a vertical Hooker joint cover plate 210, a vertical Hooker joint cavity 211 and a vertical Hooker joint base 212. The support rod mechanism 2 is connected to the upper platform 1 through the vertical Hooker joint ball head 209 and the direct upper hinge 201 to form a ball pair. The support rod mechanism 2 is connected to the upper platform 1 through the vertical Hooker joint ball head 209 and the double-ear joint. The tail plate 208 is connected to the flat plate on the steering wheel mechanism 3 to form a Hooke's hinge. The motor drives the guide rod 202 to perform telescopic movement in the cylinder 204 to form a moving pair. During movement, the motor drives the support rod mechanism 2, and the moving pair is used as the active pair to drive the entire support rod mechanism 2 to move through the telescopic movement of the guide rod 202, and transmit it to the upper platform 1 through the ball pair. At the same time, the telescopic movement of the guide rod 202 also drives the steering wheel mechanism 3 to rotate through the vertical Hooke's hinge ball head 209, the vertical Hooke's hinge cover plate 210, the vertical Hooke's hinge middle cavity 211 and the vertical Hooke's hinge base 212.

[0034] like Figure 1-Figure 3 As shown, the steering device includes a steering wheel mechanism 3 and a shock absorbing mechanism 4. The shock absorbing mechanism 4 includes a steering wheel fixing plate 401, a connecting rod fixing seat 402, a slider upper fixing plate 403, a slider upper guide locking plate 404, a slider guide rod 405, a shock absorbing connecting rod 406, a shock absorbing spring 407, a shock absorbing slider 408 and a guide mounting seat 409.

[0035] The shock absorbing mechanism 4 is connected to the Hook hinge mechanism connected to the double-ear tail plate 208, the steering wheel mechanism 3 is connected to the shock absorbing mechanism 4, and is used to drive the entire device to move. The steering wheel fixing plate 401 is connected to the steering wheel mechanism 3, the connecting rod fixing seat 402 is installed on the steering wheel fixing plate 401, the slider upper fixing plate 403 is connected to the vertical Hook hinge base 212 of the Hook hinge mechanism, the shock absorbing connecting rod 406 is installed on the connecting rod fixing seat 402, and the guide mounting seat 409 is connected to the slider upper fixing plate 403. On the side away from the Hooke's hinge mechanism, the shock-absorbing spring 407 is connected between the guide mounting seat 409 and the shock-absorbing connecting rod 406, the guide locking plate 404 on the slider is installed on the side of the fixed plate 403 on the slider away from the Hooke's hinge mechanism, the shock-absorbing slider 408 is slidably set on the guide locking plate 404 on the slider and is connected to the shock-absorbing connecting rod 406, the slider guide rod 405 is penetrated by the guide mounting seat 409 and is slidably connected to the shock-absorbing slider 408, for guiding the movement of the shock-absorbing slider 408.

[0036] This application mainly includes a guide rod 202, an upper end cover 203, a lower end cover 205, a cylinder 204, a motor connecting seat 206, a Hook hinge mechanism, a steering wheel fixing plate welding fittings, a steering wheel fixing plate 401, a slider guide rod 405, a slider fixing plate, a shock-absorbing pin shaft, a shock-absorbing spring 407, a connecting rod fixing seat 402, etc.

[0037] Among them, the upper platform 1 of the device is connected to the guide rod 202, each guide rod 202 is covered with a cylinder 204 and fixed with an upper end cover 203 and a lower end cover 205, the upper part of the guide rod 202 is connected to the direct upper hinge 201, the lower part of the lower end cover 205 is connected to the motor connecting seat 206, the lower part of the motor connecting seat 206 is connected to the brake 207, the lower part of the brake 207 is connected to the double-ear tail plate 208, and the double-ear tail plate 208 is connected to the Hooke hinge mechanism.

[0038] The mobile device part of the robot mainly relies on the steering wheel device connected to the Hooke's hinge mechanism. The upper fixing plate 403 of the slider is connected below the Hooke's hinge mechanism. The upper fixing plate 403 of the slider is welded with the corresponding accessories. The upper fixing plate 403 of the slider is connected to the connecting rod fixing seat 402, the upper fixing plate 403 of the slider, the guide locking plate 404 of the slider, the slider guide rod 405, the shock-absorbing connecting rod 406, the shock-absorbing pin, the shock-absorbing spring 407, the groove-type photoelectric bracket, various standard parts and other parts are combined with the steering wheel fixing plate 401. The lower part of the steering wheel fixing plate 401 is connected to each steering wheel mechanism 3 to form a complete machine support rod as a whole. Six identical machine support rods are connected to the upper platform 1 as a whole to achieve the effect of six degrees of freedom in parallel, thereby forming a complete mobile six-degree-of-freedom parallel robot.

[0039] In summary, the specific implementation of the mobile six-degree-of-freedom parallel robot of the present application covers multiple aspects such as mechanical structure design. Through the comprehensive application of these technologies, precise motion control of the robot in six degrees of freedom is achieved.

[0040] As above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be interpreted as limiting the present invention itself. Various changes in form and details may be made without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A mobile six-degree-of-freedom parallel robot, characterized in that: It includes an upper platform, a plurality of steering devices, and a support rod mechanism installed between the upper platform and the plurality of steering devices; The support rod mechanism includes a telescopic support rod, a directly connected upper hinge, a motor connecting seat, a brake, a double-ear tail plate and a Hook hinge mechanism; The directly connected upper hinge is installed at the end of the telescopic support rod; The motor connection seat is connected to an end of the telescopic support rod away from the directly connected upper hinge; The holding brake is arranged at one end of the motor connecting seat away from the telescopic support rod; The double-ear tail plate is connected to one end of the brake away from the motor connection seat; A pair of Hooke's hinge mechanisms are provided, wherein the pair of Hooke's hinge mechanisms are respectively connected to the direct-connected upper hinge and the double-ear tailboard, and the direct-connected upper hinge is connected to the upper platform via the Hooke's hinge mechanism; The steering device includes a steering wheel mechanism and a shock absorbing mechanism; The shock absorbing mechanism is connected to the Hooke's hinge mechanism connected to the double-ear tail plate; The steering wheel mechanism is connected to the shock absorbing mechanism and is used to drive the entire device to move.

2. The mobile six-degree-of-freedom parallel robot according to claim 1, characterized in that: The steering devices are provided in six groups, and the support rod mechanisms are provided in six groups. The six support rod mechanisms drive the upper platform to move in multiple degrees of freedom through telescopic movement.

3. The mobile six-degree-of-freedom parallel robot according to claim 1, characterized in that: The telescopic support rod comprises a guide rod, an upper end cover, a cylinder and a lower end cover; The guide rod is connected to the directly connected upper hinge; The cylinder is arranged outside the guide rod and is slidably connected to the guide rod; The upper end cover is mounted on one end of the cylinder barrel close to the guide rod; The lower end cover is mounted on an end of the cylinder away from the guide rod.

4. The mobile six-degree-of-freedom parallel robot according to claim 1, characterized in that: The Hooke's hinge mechanism comprises a vertical Hooke's hinge ball head, a vertical Hooke's hinge cover plate, a vertical Hooke's hinge middle cavity and a vertical Hooke's hinge base; The vertical Hooke's hinge cover plate is connected to the vertical Hooke's hinge ball head; The vertical Hooke's hinge middle cavity is connected to a side of the vertical Hooke's hinge cover plate away from the vertical Hooke's hinge ball head; The vertical Hooker hinge base is connected to a side of the vertical Hooker hinge cavity away from the vertical Hooker hinge cover plate; A pair of vertical Hooke's hinge ball heads of the Hooke's hinge mechanism are respectively connected to the double-ear tail plate and the directly connected upper hinge member, and a pair of vertical Hooke's hinge bases of the Hooke's hinge mechanism are respectively connected to the shock absorbing mechanism and the upper platform.

5. The mobile six-degree-of-freedom parallel robot according to claim 4, characterized in that: The shock absorbing mechanism includes a steering wheel fixing plate, a connecting rod fixing seat, a slider upper fixing plate, a shock absorbing connecting rod, a shock absorbing spring and a guide mounting seat; The steering wheel fixing plate is connected to the steering wheel mechanism; The connecting rod fixing seat is installed on the steering wheel fixing plate; The upper fixing plate of the slider is connected to the vertical Hook's hinge base of the Hook's hinge mechanism; The shock-absorbing connecting rod is installed on the connecting rod fixing seat; The guide mounting seat is connected to a side of the fixed plate on the slider away from the Hooke's hinge mechanism; The shock-absorbing spring is connected between the guide mounting seat and the shock-absorbing connecting rod.

6. The mobile six-degree-of-freedom parallel robot according to claim 5, characterized in that: The shock absorbing mechanism further comprises a guide locking plate on the slider, a slider guide rod and a shock absorbing slider; The guide locking plate on the slider is installed on a side of the fixed plate on the slider away from the Hook's hinge mechanism; The shock-absorbing slider is slidably disposed on the guide locking plate on the slider and is connected to the shock-absorbing connecting rod; The slider guide rod is provided on the guide mounting seat and is slidably connected with the shock-absorbing slider, and is used for guiding the movement of the shock-absorbing slider.

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