Planar parallel robot with auxiliary branched chains

Abstract

The utility model discloses a planar parallel robot with auxiliary branched chains, which can be divided into two configurations according to different driving modes, namely a configuration I and a configuration II. Wherein the first configuration is driven by a rotating pair, and the second configuration is driven by a moving pair. Each of the two mechanisms is composed of a static platform, a movable platform and three branch chains. Wherein two branch chains are driving branch chains, and the other branch chain is an auxiliary branch chain. The auxiliary branch chain is of a double-parallelogram structure, the upper half portion of the auxiliary branch chain is connected through a rotating pair, and the lower half portion of the auxiliary branch chain is connected through a ball pair. The main difference between the two configurations is a driving mode, so that the difference between the two mechanism structures is a static platform part structure and an active joint structure. Due to the joint constraint of the three branch chains, the end executors of the two kinds of robots can achieve planar two-degree-of-freedom translation, and the robot has the advantages of being stable in structure and the like.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of industrial robots, especially relates to a planar two-degree-of-freedom parallel robot. BACKGROUND

[0002] Parallel robots, as an innovative form in the field of industrial robots, have occupied an important position in industrial manufacturing due to their unique parallel structure and high-performance characteristics. This robot realizes high-precision and high-rigidity movement of the workbench through a multi-link parallel system. Compared with traditional serial robots, parallel robots not only have higher load capacity and stability, but also exhibit significant advantages such as fast speed, excellent motion performance, small component wear, and long service life. They are widely used in automobile manufacturing, precision machining, medical surgery, aerospace, and other fields. Through the drive on the base, the power is transmitted to the workbench using links and joints, achieving precise control of the workbench movement. This parallel driving method makes parallel robots exhibit unparalleled performance advantages in high-speed, high-precision, and collaborative operation scenarios.

[0003] Based on parallel robots, planar parallel robots further expand the application range, especially in the field of two-dimensional plane motion. Planar parallel robots connect the moving platform and the fixed platform closely through two or more independent motion branches, forming a stable closed-loop mechanism. This structure not only ensures that the robot has compact structure, high rigidity, large carrying capacity, and high precision, but also greatly reduces the occupied space and improves work efficiency. Planar parallel robots play an important role in precision assembly, material handling, and precision measurement scenarios. In the field of precision machining, it can realize fine machining and surface treatment of complex parts, significantly improving production efficiency and product quality. In addition, planar parallel robots also show great potential in medical surgery simulation, sports training, and other fields. With the continuous progress of technology, planar parallel robots will continue to promote the development of industrial automation and intelligence, bringing efficient and precise solutions to more industries. SUMMARY

[0004] The utility model provides a compact planar parallel robot.

[0005] The utility model discloses a kind of planar parallel robot with auxiliary branch chain, according to its different driving mode, it can be divided into two configurations, can be named as configuration one and configuration two respectively.Configuration one is rotary pair driving type, and configuration two is moving pair driving type.Two configurations are all considered as being composed of static platform part, dynamic platform part and three branch chains arranged between static platform and dynamic platform from structure. Among them, two of three branch chains are driving branch chain, and one is auxiliary branch chain.The main difference between configuration one and configuration two is driving mode, so the structure of their static platform part and driving branch chain part is different, the rest structure is same.

[0006] The static platform part of configuration one is rotary type static platform frame, and the rest components include motor drive module (driving motor and reducer) and rotating component (bearing, washer, shaft end cover, rotating shaft).Among them, the motor drive module and rotating component are fixedly connected on rotary type static platform frame, and the installation position of motor drive module corresponds the installation position of two active branch chains, and the installation position of rotating component corresponds the installation position of auxiliary branch chain.The static platform part of configuration two is moving type static platform frame, and the rest components include linear drive module and rotating component (bearing, washer, shaft end cover, rotating shaft).Among them, the linear drive module and rotating component are fixedly connected on moving type static platform frame, and the installation position of linear drive module corresponds the installation position of two active branch chains, and the installation position of rotating component corresponds the installation position of auxiliary branch chain.

[0007] The driving branch chain of configuration one is composed of active arm and driven arm part.Among them, the active arm is fixedly connected with the output shaft of motor drive module.The active arm part and driven arm part are connected in the form of rotary pair.The driving branch chain of configuration two is composed of driving block and driven arm part.Among them, the driving block is fixedly connected with the slider of linear drive module.The driving block and driven arm part are also connected in the form of rotary pair.The driven arm part of configuration one and configuration two is same in structure, composed of driven arm long rod and rotating member.The two ends of driven arm long rod are connected with rotating member respectively.The driven arm part and dynamic platform part are also connected in the form of rotary pair.

[0008] The dynamic platform part of configuration one and configuration two is same in structure, composed of dynamic platform frame, end effector and ball shaft.The end effector and ball shaft are connected with dynamic platform frame in the form of fixed connection, and the installation position of ball shaft corresponds the installation position of passive branch chain.

[0009] The auxiliary support chain consists of auxiliary short rod type 1, auxiliary short rod type 2, a rotating component, a ball bearing, and an I-beam component. Auxiliary short rod type 1 is connected to the I-beam component via the rotating component in a revolute joint, and its other end is connected to the stationary platform via a revolute joint. Auxiliary short rod type 2 is connected to the I-beam component via a ball bearing in a ball joint, and its other end is connected to the moving platform via a ball joint.

[0010] Both configurations of the end effector can achieve planar two-degree-of-freedom translation under the combined action of two drive branches and one auxiliary branch. Attached Figure Description

[0011] Figure 1 These are schematic diagrams of two different mechanisms of this utility model;

[0012] Figure 2 This is a schematic diagram of the configuration of this utility model;

[0013] Figure 3 This is a schematic diagram of configuration two of this utility model;

[0014] Figure 4 This is a schematic diagram of the static platform portion of the present invention.

[0015] Figure 5 This is a schematic diagram of the two static platform components of the present invention.

[0016] Figure 6 This is a schematic diagram of the active arm portion of the present invention.

[0017] Figure 7 This is a schematic diagram of the two-drive block structure of this utility model;

[0018] Figure 8 This is a schematic diagram of the driven boom portion of this utility model;

[0019] Figure 9 This is a schematic diagram of the dynamic platform part of this utility model;

[0020] Figure 10 This is a schematic diagram of the intermediate branch structure of this utility model; Detailed Implementation

[0021] The present invention will now be described in further detail with reference to the accompanying drawings, so that those skilled in the art can implement it based on the description.

[0022] Combined with appendix Figure 1As shown, the utility model of a kind of three branched-chain plane parallel robot, according to its driving mode different can be divided into two configurations (named configuration one and configuration two respectively).Among them, the configuration of revolute pair drive is named configuration one, and the configuration of prismatic pair drive is named configuration two.

[0023] The configuration one is as shown in Figure 2 As shown, according to its structural features, it can be divided into static platform part I-1, moving platform part V and three branched chains arranged between static platform and moving platform.The two branched chains are the same structure of drive branched chain, and one auxiliary branched chain IV provides rotational constraint.The static platform part I-1 of the configuration one is composed of static platform frame 1-1, drive module 1-2 (drive motor and reducer) and rotating assembly 3 (bearing, washer, shaft end cover, rotating shaft), as shown in Figure 4 The drive module 1-2 is fixedly connected with the rotating type static platform frame 1-1, and the installation position corresponds to the installation position of the two drive branched chains.The rotating assembly 3 is also fixedly connected with the rotating type static platform frame 1-1, and the installation position corresponds to the installation position of the auxiliary branched chain IV.

[0024] The configuration two is as shown in Figure 3 As shown, according to its structural features, it can be divided into static platform part I-2, moving platform part V and three branched chains arranged between static platform and moving platform.The two branched chains are the same structure of drive branched chain, and one auxiliary branched chain IV provides rotational constraint.The static platform part I-2 of the configuration two is composed of three components, which are static platform frame 2-1, linear drive module 2-2 and rotating assembly 3 (bearing, washer, shaft end cover, rotating shaft), as shown in Figure 5 The linear drive module 2-2 is fixedly connected with the static platform frame 2-1, and the installation position corresponds to the installation position of the two drive branched chains.The rotating assembly 3 is also fixedly connected on the static platform frame 2-1, and the installation position corresponds to the installation position of the passive branched chain IV.

[0025] The drive branched chain of the configuration one is composed of active arm part II-1 and driven arm part III.Among them, the active arm part II-1 is active arm 1-4, as shown in Figure 6 The active arm 1-4 is fixedly connected with the output shaft of the drive module 1-2.The active arm part II-1 and the driven arm part III are connected in the form of revolute pair.The drive branched chain of the configuration two is composed of drive block part II-2 and driven arm part III.Among them, the drive block part II-2 is drive block 2-4, as shown in Figure 7 The drive block 2-4 is fixedly connected with the slider of the linear drive module 2-2.The drive block part II-2 and the driven arm part III are also connected in the form of revolute pair.

[0026] The driven arm part III of the configuration one and the configuration two are identical in structure, and are composed of a long rod 5 of the driven arm and a rotating part 6, as shown in the figure. Figure 8 The long rod 5 of the driven arm is connected with the rotating part 6 at both ends to form the driven arm part III. The driven arm part III is connected with the moving platform V and the driving arm part II-1 of the configuration one or the driving block part II-2 of the configuration two in the form of a rotating pair.

[0027] The moving platform part V of the configuration one and the configuration two are identical in structure, and are composed of a moving platform frame 7, an end effector 9 and a ball shaft 8, as shown in the figure. Figure 9 The end effector 9 and the ball shaft 8 are connected with the moving platform frame 7 in the form of fixed connection, and the installation position of the ball shaft 8 corresponds to the installation position of the passive branch chain IV.

[0028] The passive branch chain IV of the configuration one and the configuration two are identical in structure, and are composed of an auxiliary short rod type 10, an auxiliary short rod type 13, a rotating part 11, a ball shaft 8 and an I-shaped part 12. The auxiliary short rod type 10 is connected with the I-shaped part 12 in the form of a rotating pair through the rotating part 11, and is connected with the static platform part I-1 of the configuration one or the static platform part I-2 of the configuration two in the form of a rotating pair. The auxiliary short rod type 13 is connected with the I-shaped part 12 in the form of a ball pair through the ball shaft 8, and is connected with the moving platform part V in the form of a ball pair.

[0029] Both the two mechanisms can realize the planar two-translation of the end effector through the joint action of the three branch chains.

[0030] The above-mentioned embodiments only describe the preferred embodiments of the present application, and do not limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements of the technical solutions of the present application made by those skilled in the art shall fall within the protection scope of the claims of the present application.

Claims

1. A planar parallel robot with auxiliary branches, comprising a static platform part, a dynamic platform part, and three branches arranged between the static platform and the dynamic platform, characterized in that, According to different driving modes, the structure is configured as configuration one or configuration two; The configuration one is a rotational pair driving type; The configuration two is a moving pair driving type; Among the three chains, two are driving chains and one is an auxiliary chain; The static platform part and the driving chain part of the configuration one and the configuration two are different in structure, and the rest of the structures are the same; The static platform part of the configuration one is a rotational pair static platform frame, and the rest of the components include a motor driving module and a rotating assembly; the motor driving module includes a driving motor and a speed reducer, and the rotating assembly includes a bearing, a washer, a shaft end cover and a rotating shaft; wherein the motor driving module and the rotating assembly are fixed on the rotational pair static platform frame, and the installation position of the motor driving module corresponds to the installation position of the two driving chains, and the installation position of the rotating assembly corresponds to the installation position of the auxiliary chain; The static platform part of the configuration two is a moving type static platform frame, and the rest of the components include a linear driving module and a rotating assembly; the rotating assembly includes a bearing, a washer, a shaft end cover and a rotating shaft; wherein the linear driving module and the rotating assembly are fixed on the moving type static platform frame, and the installation position of the linear driving module corresponds to the installation position of the two driving chains, and the installation position of the rotating assembly corresponds to the installation position of the auxiliary chain; The driving chain of the configuration one is composed of a driving arm and a driven arm part; wherein the driving arm is fixed with the output shaft of the motor driving module; the driving arm part and the driven arm part are connected in the form of a rotational pair; The driving chain of the configuration two is composed of a driving block and a driven arm part; wherein the driving block is fixed with the slider of the linear driving module; the driving block and the driven arm part are also connected in the form of a rotational pair; The driven arm part of the configuration one and the configuration two is the same in structure, which is composed of a driven arm long rod and a rotating part; the two ends of the driven arm long rod are connected with the rotating part respectively; the driven arm part and the moving platform part are also connected in the form of a rotational pair; The moving platform part of the configuration one and the configuration two is the same in structure, which is composed of a moving platform frame, an end effector and a ball shaft; the end effector and the ball shaft are connected with the moving platform frame in the form of fixed connection, and the installation position of the ball shaft corresponds to the installation position of the passive chain; the auxiliary chain is composed of an auxiliary short rod type one, an auxiliary short rod type two, a rotating part, a ball shaft and an I-shaped part; wherein the auxiliary short rod type one is connected with the I-shaped part in the form of a rotational pair through the rotating part, and the other end is connected with the static platform part in the form of a rotational pair; the auxiliary short rod type two is connected with the I-shaped part in the form of a spherical pair through the ball shaft, and the other end is connected with the moving platform part in the form of a spherical pair; Through the joint action of the three chains, the configuration one and the configuration two can realize planar two-degree-of-freedom motion.

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