Parallel robot

Abstract

The utility model discloses a parallel robot which comprises a static platform, a driving arm, a driven arm, a movable platform, a mechanical interface and a connecting part fixed on the outer wall of the movable platform, the mechanical interfaces are fixed to the two ends of the connecting part and used for being in transmission connection with the driven arm of the parallel robot. And the connecting part is detachably connected with the outer wall of the movable platform. The applicability of the parallel robot can be improved, and the use cost is reduced.

Description

Technical Field

[0001] This utility model relates to the field of parallel robot technology, and in particular to a parallel robot. Background Technology

[0002] Currently, robots at home and abroad can be divided into serial robots and parallel robots. Serial robots are formed by multiple joints connected in series and are widely used in various machine tools, assembly workshops and other work environments with flexible requirements. Parallel robots are generally composed of a moving platform and a fixed platform (or static platform). The moving platform and the fixed platform are connected by at least two independent kinematic chains. The mechanism has two or more degrees of freedom and is driven in parallel. It is mainly used in precision and compact applications.

[0003] The motion platform, as a crucial component of a robot, is the direct output part for realizing the robot's motion trajectory. Its structural stability and flexibility directly determine the robot's motion accuracy and the functions it can perform. For example, existing patent 202011533144.5 discloses a five-axis robot motion platform and its corresponding five-axis robot. This motion platform includes an active drive mechanism, a driven drive mechanism, and a mounting platform for mounting the active and driven drive mechanisms. Each axis drive motor is housed within a base and connected to the motion platform via splined shafts. The motion platform utilizes multi-stage gear meshing to change the output direction, achieving the five-axis functional requirements. However, existing parallel robots are typically designed separately, such as five-axis and four-axis robots. Users must purchase separate five-axis and four-axis robots to achieve the desired five-axis and four-axis functions, resulting in high costs. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a parallel robot that can improve the applicability of parallel robots and reduce the cost of use.

[0005] To address the aforementioned technical problems, this utility model discloses a parallel robot, comprising a static platform, an active arm, a driven arm, and a moving platform, and further comprising a mechanical interface and a connecting portion fixed to the outer wall of the moving platform; the mechanical interface is fixed to both ends of the connecting portion, and the mechanical interface is used for transmission connection with the driven arm of the parallel robot; the connecting portion is detachably connected to the outer wall of the moving platform.

[0006] As an optional implementation, the parallel robot is a five-axis parallel robot; the moving platform includes a cavity with internal accommodating space, in which a drive motor, a reducer, and a rotating flange are installed; the output shaft of the drive motor is coaxially connected to the input shaft of the reducer, the input and output shafts of the reducer are coaxial, and the rotating flange is mounted on the output shaft of the reducer; the rotating flange is used for transmission connection with the rotating shaft of the moving platform; the rotating axis of the moving platform corresponds to the x-axis or y-axis in the world coordinate system.

[0007] As another optional implementation, the drive motor is a frameless torque motor without a housing.

[0008] As another alternative implementation, the drive motor is hollow inside, for internal wiring of the moving platform.

[0009] As another alternative implementation, the bottom of the moving platform is used to mount a gripping device.

[0010] As another alternative implementation, the parallel robot is a four-axis parallel robot; the bottom of the moving platform is used to install a gripping device.

[0011] As another optional implementation, the moving platform is a cavity, and the control line of the gripping device is provided in the cavity.

[0012] As another optional implementation, the mechanical interface is detachably connected to the connecting part.

[0013] As another optional implementation, the number of connecting parts is three, and each connecting part is connected to one of the driven arms.

[0014] As another optional implementation, the active arm is fixed to the stationary platform, one end of the driven arm is drivenly connected to the active arm, and the other end of the driven arm is drivenly connected to the moving platform.

[0015] Compared with the prior art, the embodiments of this utility model have the following beneficial effects:

[0016] In this embodiment of the utility model, the connecting part is detachably connected to the outer wall of the moving platform, thereby designing the moving platform as a detachable structure. When it is necessary to replace different types of moving platforms, such as switching from four-axis to five-axis, it is only necessary to replace the moving platform without its own degree of freedom with a moving platform with its own axis of motion in one direction. The connecting part and mechanical interface can be reused, thus improving the applicability of parallel robots and reducing the cost of use. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of a parallel robot disclosed in an embodiment of this utility model;

[0019] Figure 2 This is a cross-sectional structural schematic diagram of the motion platform of a parallel robot disclosed in an embodiment of this utility model;

[0020] Figure 3 This is a schematic diagram of the motion platform of a parallel robot disclosed in an embodiment of this utility model;

[0021] Figure 4 This is a structural schematic diagram of another parallel robot disclosed in this utility model embodiment. Detailed Implementation

[0022] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Example 1

[0024] See Figures 1-3 This utility model discloses a parallel robot, including a static platform 1, an active arm 2, a driven arm 3, and a moving platform 4, and also includes a mechanical interface 415 and a connecting part 414 fixed to the outer wall of the moving platform; the mechanical interface 415 is fixed to both ends of the connecting part 414, and the mechanical interface 415 is used for transmission connection with the driven arm 3 of the parallel robot; the connecting part 414 is detachably connected to the outer wall of the moving platform 4.

[0025] In this embodiment of the utility model, the connecting part 414 is detachably connected to the outer wall of the moving platform 4, thereby designing the moving platform 4 as a detachable structure. When it is necessary to replace different types of moving platforms, such as switching from four-axis to five-axis, it is only necessary to replace the moving platform without its own degree of freedom with a moving platform with its own axis of motion in one direction. The connecting part 414 and the mechanical interface 415 can be reused, thus improving the applicability of the parallel robot and reducing the cost of use.

[0026] In an optional embodiment, the mechanical interface 415 is detachably connected to the connection portion 414.

[0027] In another alternative embodiment, the number of connecting parts 414 is three, and each connecting part 414 is connected to one of the driven arms 3.

[0028] In another alternative embodiment, the active arm 2 is fixed to the stationary platform 1, one end of the driven arm 3 is connected to the active arm 2 in a driving connection, and the other end of the driven arm 3 is connected to the moving platform 4 in a driving connection.

[0029] Example 2

[0030] See Figures 1-3 This utility model discloses a parallel robot, including all the structures of the parallel robot in Embodiment 1, the difference being that the parallel robot is a five-axis parallel robot; the moving platform 4 includes a cavity 41 with an accommodating space, and a four-axis drive motor 411 is installed in the cavity 41 (the rotation axis of the motor is in...). Figure 2 (The center is in the vertical direction), four-axis reducer 412 and rotary flange 413, five-axis drive motor 416 (the rotation axis of this motor ...). Figure 2 (Horizontal direction in the middle), five-axis reducer 417 and end flange 418;

[0031] The output shaft of the drive motor 411 is coaxially connected to the input shaft of the reducer 412. The input shaft and output shaft of the reducer 412 are coaxial. The rotating flange 413 is mounted on the output shaft of the reducer 412. The rotating flange 413 is used for transmission connection with the rotating shaft of the moving platform. The rotating shaft of the moving platform corresponds to the x-axis or y-axis in the world coordinate system.

[0032] In this embodiment of the utility model, the drive motor 411 is directly connected to the reducer and the flange, and the three are coaxial. There is no need to adjust the output shaft direction through bevel gears or transmit power through synchronous belt pulleys. Parts processing and component assembly are easier. The drive motor 411 is placed on one side of the moving platform 4, and there is no need for the spline shaft to transmit power. When the power is transmitted to the output side of the moving platform 4, the input and output are coaxial and no additional torque couple is generated.

[0033] In an optional embodiment, the drive motor 411 is a frameless torque motor without a housing.

[0034] In yet another alternative embodiment, the drive motor 411 is hollow inside for internal wiring of the moving platform 4.

[0035] In this embodiment, the frameless torque motor has no outer casing, which can provide more equipment space. The hollow design in the middle facilitates hollow cable routing, reduces the requirements for cable flexibility in multi-axis operation, and ensures the service life of the whole machine. In the design, the overall machine size can be made smaller.

[0036] In yet another alternative embodiment, the bottom of the moving platform is used to mount a gripping device.

[0037] Example 3

[0038] See Figure 4 This utility model discloses a parallel robot, which includes all the structures of the parallel robot in Embodiment 1. The difference is that the parallel robot is a four-axis parallel robot; the moving platform 4 in Embodiment 1 is replaced by the moving platform 5. The moving platform 5 is usually a structure without its own degrees of freedom. The moving platform 5 serves as the end effector of the robot, and its bottom is used to install a gripping device.

[0039] In an optional embodiment, the moving platform 5 is a cavity, and the control line of the gripping device is disposed in the cavity.

[0040] The contents disclosed in this utility model embodiment are merely preferred embodiments of this utility model and are only used to illustrate the technical solutions of this utility model, not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of this utility model.

Claims

1. A parallel robot, comprising a static platform, an active arm, a driven arm, and a moving platform, characterized in that, It also includes a mechanical interface and a connecting part fixed to the outer wall of the moving platform; the mechanical interface is fixed to both ends of the connecting part, and the mechanical interface is used to drive the driven arm of the parallel robot; the connecting part is detachably connected to the outer wall of the moving platform.

2. The parallel robot according to claim 1, characterized in that, The parallel robot is a five-axis parallel robot; the moving platform includes a cavity with internal accommodating space, in which a drive motor, a reducer, and a rotating flange are installed; the output shaft of the drive motor is coaxially connected to the input shaft of the reducer, the input and output shafts of the reducer are coaxial, and the rotating flange is mounted on the output shaft of the reducer; the rotating flange is used for transmission connection with the rotating shaft of the moving platform; the rotating axis of the moving platform corresponds to the x-axis or y-axis in the world coordinate system.

3. The parallel robot according to claim 2, characterized in that, The drive motor is a frameless torque motor without a housing.

4. The parallel robot according to claim 2 or 3, characterized in that, The drive motor is hollow inside, which is used for the internal wiring of the moving platform.

5. The parallel robot according to claim 2, characterized in that, The bottom of the moving platform is used to install a gripping device.

6. The parallel robot according to claim 1, characterized in that, The parallel robot is a four-axis parallel robot; the bottom of the moving platform is used to install a gripping device.

7. The parallel robot according to claim 6, characterized in that, The moving platform has a cavity inside, and the control line of the gripping device is installed in the cavity.

8. The parallel robot according to claim 1, characterized in that, The mechanical interface is detachably connected to the connecting part.

9. The parallel robot according to claim 1, characterized in that, The number of connecting parts is three, and each connecting part is connected to one driven arm.

10. The parallel robot according to claim 1, characterized in that, The active arm is fixed to the stationary platform, one end of the driven arm is connected to the active arm via a transmission, and the other end of the driven arm is connected to the moving platform via a transmission.

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