Parallel robot platform with kinematic chain formed by connecting two connecting rods in parallel

Abstract

The utility model discloses a parallel robot platform with a kinematic chain formed by connecting two connecting rods in parallel. The robot platform comprises an upper platform body and a lower platform body. The upper platform and the lower platform are connected through a plurality of connecting rod mechanisms, the top ends of the two connecting rod mechanisms located at the installation point positions of the upper platform are connected, the bottom ends of the two connecting rod mechanisms located at the installation point positions of the lower platform are connected, and a triangular structure is formed. According to the parallel robot platform, a kinematic chain is formed by connecting two connecting rods in parallel, the parallel robot platform can meet the industrial manufacturing requirements that the poses can be flexibly changed and the loading capacity is large enough, and due to the fact that the double connecting rods are connected in parallel to form the link, the stability of the parallel robot platform is higher than that of a common six-degree-of-freedom parallel robot platform.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, and in particular to a parallel robot platform whose kinematic chain consists of two links connected in parallel. Technical Background

[0002] The continuous development of high-end manufacturing has raised the requirements for the configuration of parallel robot platforms, especially in the manufacturing of electronic products, chemical industry, medical industry and food industry. Research has found that parallel robot platforms with kinematic chains composed of two links connected in parallel can significantly improve manufacturing efficiency.

[0003] Choosing a suitable manufacturing platform is one of the most crucial steps in industrial manufacturing. Current parallel robot platforms achieve the six degrees of freedom by using six links staggered on the upper and lower platforms, allowing for flexible posture adjustments during assembly. Parallel installation with two links is a simple and widely used method for various industrial linkage structures. In large-scale industrial manufacturing, single links are often insufficient to support the load on the platform or robotic arm from the objects being manufactured or installed. Parallel installation with two links can simply and effectively increase the load-bearing capacity, load capacity, and stability of a specific platform or robotic arm. Parallel robot platforms deployed in industrial manufacturing need to adapt to the manufacturing requirements of various objects with different sizes, loads, and postures. However, current industrial manufacturing platforms generally have limited load-bearing capacity or cannot change their posture. If a purely multi-link parallel platform is used, the manufactured or installed objects cannot change their posture. If a single-link parallel robot platform is used, the platform's load-bearing capacity is quite limited; forcibly adding load can lead to platform instability or even collapse. Therefore, there is an urgent need for a new and stable industrial manufacturing platform that can adapt to the requirements of industrial manufacturing that allows for flexible changes in position and has sufficient load capacity. Utility Model Content

[0004] The technical problem to be solved by this utility model is to overcome the defects and deficiencies of existing industrial platforms in manufacturing technology and provide a parallel robot platform whose kinematic chain is composed of two links connected in parallel. This parallel robot platform can meet the industrial manufacturing requirements of flexible posture change and sufficient load capacity. Due to its parallel connection of two links, its stability is also stronger than that of ordinary six-degree-of-freedom parallel robot platforms.

[0005] This application is for a parallel robot platform whose kinematic chain consists of two links connected in parallel, the robot platform comprising an upper platform and a lower platform;

[0006] The upper platform and the lower platform are connected by several linkage mechanisms. The top ends of the two linkage mechanisms located at the installation point on the upper platform are connected, and the bottom ends of the two linkage mechanisms located at the installation point on the lower platform are connected, forming a triangular structure.

[0007] Furthermore, the robot platform includes six linkage mechanisms.

[0008] Furthermore, each linkage mechanism includes two parallel hydraulic rods, the top ends of which are fixed together by an upper connecting plate, and the bottom ends of which are fixed together by a lower connecting plate;

[0009] The upper connecting plate and the lower connecting plate are respectively fixed between the upper platform and the lower platform by cross-hooker hinges.

[0010] Furthermore, the upper surface of the lower platform is provided with three lower mounting points, and six cross-shaped Hooke hinges are installed in pairs at the lower mounting points;

[0011] The lower surface of the upper platform is provided with three upper mounting points, and six cross-shaped Hooke hinges are installed in pairs at the upper mounting points.

[0012] The lower end of the linkage mechanism is fixedly installed on six cross-hooks on the lower platform, and the upper end of the linkage mechanism and the installation position of the lower platform are fixedly installed on six cross-hooks on the upper platform in an alternating manner.

[0013] This utility model has the following advantages:

[0014] Simple to operate, continuous process, and low cost;

[0015] It has a strong load capacity and good stability when carrying a large load;

[0016] It has good flexibility and can achieve various different positions during actual work. Attached Figure Description

[0017] Figure 1 This is a structural diagram of a parallel robot platform whose kinematic chain consists of two parallel links.

[0018] Figure 2 This is a structural diagram of the linkage of the parallel robot platform of this utility model;

[0019] Figure 3 This is a structural diagram of the parallel double-linkage structure of this utility model;

[0020] Figure 4 This is a structural diagram of the cross-shaped Hooke hinge of this utility model. Detailed Implementation

[0021] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0022] This application discloses a parallel robot platform whose kinematic chain consists of two parallel links, applicable to industrial manufacturing applications requiring high loads and posture adjustments. The platform mainly comprises an upper platform and a lower platform, connected by several linkage mechanisms. The top ends of the two linkage mechanisms located at the mounting point on the upper platform are connected, and the bottom ends of the two linkage mechanisms located at the mounting point on the lower platform are connected, forming a triangular structure.

[0023] The solution provided in this embodiment consists of six linkage mechanisms, comprising twelve connecting plates, twelve cross-hooker hinges, and twelve hydraulic rods. The cross-hooker hinges connect the upper and lower hinge seats in an alternating manner via a central cross axis. It should be noted that this application does not limit the number of linkage mechanisms; any number and arrangement of linkage mechanisms that achieve the desired technical effect falls within the protection scope of this application.

[0024] Hydraulic rods are connected in pairs in parallel, and a connecting plate is used on both the upper and lower surfaces to form a double-link parallel mechanism. Six cross-hooke hinges are installed in pairs at the three corners of the lower platform, and similarly, six cross-hooke hinges are installed in pairs at the three corners of the upper platform. The lower ends of the six double-link parallel mechanisms are then fixed to the six cross-hooke hinges on the lower platform, while the upper ends of the double-link parallel mechanisms and their installation positions on the lower platform are staggered and fixed to the six cross-hooke hinges on the upper platform. Due to the flexibility of the cross-hooke hinges and the staggered installation positions of the six double-link parallel mechanisms, the position and posture of the upper platform can be continuously adjusted to achieve the posture required in actual industrial manufacturing. Since the linkages are double-link parallel mechanisms rather than ordinary single hydraulic rods, the stability of the entire parallel robot platform is greatly increased, and its load-bearing capacity is also enhanced. The Hooke's cross hinge consists of a central cross shaft connecting two staggered supports. This type of hinge is widely used in parallel robots, not only because it is a hinge mechanism capable of providing a rotational mechanism, but also because it can transmit power and motion between two intersecting axes. With a Hooke's cross hinge installed on the top and bottom of each pair of links, the flexibility and degrees of freedom of the parallel robot platform are guaranteed.

[0025] In actual industrial manufacturing, it is often impossible to simultaneously process objects with large loads and stringent positional requirements. Therefore, there is an urgent need for a parallel robot platform that can adapt to both load and positional requirements. This invention addresses the current demands of industrial manufacturing by developing a parallel robot platform whose kinematic chain consists of two parallel links. This platform offers both strong load capacity and good flexibility. The specific industrial manufacturing steps are as follows: First, determine the position of the object to be processed. Second, adjust the parallel robot platform (with its kinematic chain of two parallel links) to the desired position of the object. Finally, place the object on the parallel robot platform for processing. Example

[0026] See Figure 1 As shown, the kinematic chain of this utility model is composed of two parallel links forming a parallel robot platform. This platform consists of an upper triangular platform 1, a lower triangular platform 8, and connecting links 2, 3, 4, 5, 6, and 7. The connecting links 2, 3, 4, 5, 6, and 7 are arranged in pairs and staggered at the three corners of the upper and lower triangular platforms. Figure 1 As shown, the three corners of the upper triangular platform 1 and the lower triangular platform 8 are staggered.

[0027] See Figure 2 As shown, the described link is that of a parallel robot platform. Figure 1 Links 1, 2, 3, 4, 5, and 6 in the diagram are all... Figure 2 The structure shown. Figure 2 The connecting rod shown is composed of a parallel hydraulic rod 102, a lower cross-Hook hinge 101, and an upper cross-Hook hinge 103.

[0028] See Figure 3 As shown, the described structure is a double-link parallel structure. Figure 3 As shown, the double-link parallel structure is composed of a first link 203, a first link 204, a lower connecting plate 201, and an upper connecting plate 202. The first link 203 and the first link 204 are connected in parallel by the upper and lower connecting plates 201 and 202.

[0029] See Figure 4 As shown, the described structure is a cross-Hooke hinge. (As...) Figure 4 As shown, the cross-Hook hinge consists of an upper support 301, a lower support 303, and a cross shaft connector 302 in the middle. The upper support 301 and the lower support 303 are connected alternately via the cross shaft 302. Figure 4 As shown.

[0030] Depend on Figure 1 , Figure 2 , Figure 3 and Figure 4 As can be seen, this utility model adapts to the requirements of current industrial manufacturing, and has developed a parallel robot platform whose kinematic chain consists of two parallel links. It possesses both strong load-bearing capacity and good flexibility. The specific industrial manufacturing steps are as follows: First, determine the pose of the object to be processed; second, adjust the parallel robot platform (composed of two parallel links) to the pose of the object; finally, place the object on the parallel robot platform for processing.

Claims

1. A parallel robot platform whose kinematic chain consists of two parallel links, characterized in that, The robot platform includes an upper platform and a lower platform; The upper platform and the lower platform are connected by several linkage mechanisms. The top ends of the two linkage mechanisms located at the installation point on the upper platform are connected, and the bottom ends of the two linkage mechanisms located at the installation point on the lower platform are connected, forming a triangular structure.

2. The parallel robot platform according to claim 1, wherein the kinematic chain consists of two links connected in parallel, is characterized in that, The robot platform contains six linkage mechanisms.

3. A parallel robot platform with a kinematic chain consisting of two parallel links as described in claim 1, characterized in that, Each linkage mechanism contains two parallel hydraulic rods, the top ends of which are fixed together by an upper connecting plate, and the bottom ends of which are fixed together by a lower connecting plate. The upper connecting plate and the lower connecting plate are respectively fixed between the upper platform and the lower platform by cross-hooker hinges.

4. A parallel robot platform with a kinematic chain consisting of two parallel links as described in claim 1, characterized in that, The upper surface of the lower platform is provided with three lower mounting points, and six cross-hook hinges are installed in pairs at the lower mounting points; The lower surface of the upper platform is provided with three upper mounting points, and six cross-hook hinges are installed in pairs at the upper mounting points. The lower end of the linkage mechanism is fixedly installed on six cross-hooks on the lower platform, and the upper end of the linkage mechanism and the installation position of the lower platform are fixedly installed on six cross-hooks on the upper platform in an alternating manner.

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