Parallel robot mechanism

Abstract

The utility model discloses a parallel robot mechanism, and relates to the technical field of robots. The device structurally comprises a fixed platform, a movable platform and a connecting platform, the movable platform linearly moves on the fixed platform; a screw rod motor is mounted on the fixed platform in a penetrating manner; an inner threaded pipe which is in threaded connection fit with a lead screw of the lead screw motor is mounted on the movable platform in a penetrating manner; the movable platform and the connecting platform are connected through three driving branches of the same structure. The modular design is adopted, the structures of the fixed platform, the movable platform, the connecting platform and the driving branches are all relatively simple, manufacturing and assembling are easy, and the production cost is effectively reduced. By using standard parts and universal parts, such as a hooke joint connecting seat and a guide cylindrical rod, the number of customized parts is further reduced, and the production flexibility and efficiency are improved; the parallel robot mechanism has the advantages of being simple in structure, stable in movement, high in precision, large in working space and the like, and is suitable for application scenes needing high precision and high stability.

Description

Technical Field

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

[0002] While traditional serial robot mechanisms offer high flexibility and precision, their complex structure, poor stability, and susceptibility to error accumulation during long-distance movement are significant drawbacks. Parallel robot mechanisms, on the other hand, boast structural stability, high load-bearing capacity, and high motion precision. Therefore, parallel robots offer substantial advantages in applications requiring both high precision and stability.

[0003] However, existing parallel robot mechanisms generally suffer from complex structures, high manufacturing and assembly difficulties, and high costs. Furthermore, some parallel robot mechanisms have poorly designed drive branches, resulting in poor kinematic performance and even unusual positions in certain workspaces, thus limiting their application scope. Utility Model Content

[0004] The purpose of this utility model is to provide a parallel robot mechanism that adopts a modular design. The structures of the fixed platform, moving platform, connecting platform, and drive branch are relatively simple, easy to manufacture and assemble, and effectively reduce production costs.

[0005] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution:

[0006] This utility model relates to a parallel robot mechanism, comprising a fixed platform, a moving platform, and a connecting platform; the moving platform moves linearly on the fixed platform; a lead screw motor is mounted through the fixed platform; an internally threaded tube that engages with the lead screw of the lead screw motor is mounted through the moving platform; the moving platform and the connecting platform are connected by three identical drive branches; the angle between the connection points of two adjacent drive branches and the connecting platform is 120°.

[0007] As a preferred embodiment of this utility model, the fixed platform includes a triangular plate; the triangular plate has several mounting holes; and a guide cylindrical rod is vertically fixed at the triangular part of the lower surface of the triangular plate.

[0008] As a preferred embodiment of this utility model, the moving platform includes three I-beams fixed at equal angles to the outer wall of the internally threaded pipe; a Hooke's hinge connecting seat that connects and cooperates with the drive branch is fixed to the end of each I-beam; a rectangular support rod extending along the axis of the I-beam is fixed to the Hooke's hinge connecting seat; a guide sleeve that slides linearly with the guide cylindrical rod is fixed to the end of the rectangular support rod; and a limit plate is installed at the end of the guide cylindrical rod by bolts.

[0009] As a preferred embodiment of this utility model, the connecting platform is a triangular pyramidal structure; a through hole is provided at the center of the connecting platform; and three positioning grooves are provided on the end face of the connecting platform away from the fixed platform.

[0010] In a preferred embodiment of this invention, the drive branch includes an upper link and a lower link; the upper link is connected to the lower link via a sliding joint; the upper link is connected to the moving platform via a first Hooke hinge; and the lower link is connected to the connecting platform via a second Hooke hinge.

[0011] As a preferred embodiment of this utility model, the driving moving pair of the driving branch is composed of a hydraulic linear moving driving device or a linear moving driving device composed of an electric motor and a screw pair.

[0012] This utility model has the following beneficial effects:

[0013] 1. The parallel robot mechanism of this utility model adopts a modular design. The structures of the fixed platform, moving platform, connecting platform, and drive branch are relatively simple, easy to manufacture and assemble, and effectively reduce production costs. By using standard and general-purpose parts, such as Hooke's hinge connectors and guide cylindrical rods, the number of customized parts is further reduced, improving production flexibility and efficiency.

[0014] 2. This utility model achieves linear movement of the moving platform through the cooperation of a lead screw motor and an internally threaded tube. Combined with the guiding effect of the guide cylindrical rod and guide sleeve, the rotational freedom of the moving platform is effectively limited, ensuring the stability and accuracy of the motion. The drive branch uses an upper and lower connecting rod connected by a sliding joint, combined with the flexible connection characteristics of a Hooke's joint, enabling the robot mechanism to adapt to certain deformations and displacements during movement, thus improving the robustness and reliability of the mechanism.

[0015] 3. The connection platform of this utility model adopts a triangular pyramid structure with a regular triangular pyramid shape. Combined with the design of the positioning groove, the end of the drive branch can be accurately connected to the connection platform, while providing a large working space and flexibility.

[0016] 4. The parallel robot mechanism of this utility model has the advantages of simple structure, stable motion, high precision, and large workspace. It is suitable for applications requiring high precision and stability, such as precision machining, medical surgery, and aerospace. By adjusting the length of the drive branches and the position of the connection points, the working range and motion trajectory of the robot mechanism can be easily changed to meet different application requirements.

[0017] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying 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.

[0019] Figure 1 This is a schematic diagram of the parallel robot mechanism of this utility model.

[0020] Figure 2 for Figure 1 A structural diagram from another perspective.

[0021] Figure 3 This is a structural diagram of a fixed platform, a moving platform, a lead screw motor, and an internally threaded pipe.

[0022] The attached diagram lists the components represented by each number as follows:

[0023] 1-Fixed platform, 2-Moving platform, 3-Connecting platform, 4-Screw motor, 5-Internal threaded pipe, 6-Upper connecting rod, 7-Lower connecting rod, 8-First Hooke hinge, 9-Second Hooke hinge, 11-Triangular plate, 12-Mounting hole, 13-Guide cylindrical rod, 14-Limiting plate, 21-I-beam, 22-Hooke hinge connecting seat, 23-Rectangular support rod, 24-Guide sleeve, 31-Through hole, 32-Positioning groove. Detailed Implementation

[0024] The technical solutions of the present utility model 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 utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model. Specific Implementation Example 1:

[0026] Please see Figure 1-3As shown, this utility model is a parallel robot mechanism, including a fixed platform 1, a moving platform 2, and a connecting platform 3. The moving platform 2 moves linearly on the fixed platform 1. A lead screw motor 4 is mounted through the fixed platform 1. An internally threaded tube 5, which is threaded to engage with the lead screw of the lead screw motor 4, is mounted through the moving platform 2. The moving platform 2 and the connecting platform 3 are connected by three identical drive branches. The angle between the connection point of two adjacent drive branches and the connecting platform 3 is 120°. This parallel robot mechanism adopts a modular design. The structures of the fixed platform 1, moving platform 2, connecting platform 3, and drive branches are relatively simple, easy to manufacture and assemble, and effectively reduce production costs.

[0027] The fixed platform 1 includes a triangular plate 11. The triangular plate 11 has several mounting holes 12 for fixing the fixed platform 1 to a base or other structure. A guide cylindrical rod 13 is vertically fixed to each of the triangular portions of the lower surface of the triangular plate 11 to restrict the rotational freedom of the moving platform 2, ensuring that the moving platform can only move along the axial direction of the fixed platform.

[0028] The moving platform 2 includes three I-beams 21 fixed at equal angles to the outer wall of the internally threaded pipe 5. A Hooke's hinge connector 22, which connects and mates with the drive branch, is fixed to the end of each I-beam 21. A rectangular support rod 23 extending along the axis of the I-beams 21 is fixed to the Hooke's hinge connector 22. A guide sleeve 24, which linearly slides with a guide cylindrical rod 13, is fixed to the end of the rectangular support rod 23. The cooperation between the guide sleeve 24 and the guide cylindrical rod 13 further restricts the rotational freedom of the moving platform 2, ensuring that the moving platform 2 can only move along the axis of the fixed platform. A limit plate 14 is bolted to the end of the guide cylindrical rod 13.

[0029] The connecting platform 3 is a truncated triangular pyramid structure. A through hole 31 is provided at the center of the connecting platform 3 for inserting an external lead screw for mounting the actuator, ensuring the stability of the connection between the connecting platform 3 and the actuator. Three positioning grooves 32 are provided on the end face of the connecting platform 3 away from the fixed platform 1 for connecting with the actuator, ensuring accurate connection of the actuator to the connecting platform 3.

[0030] The drive branch includes an upper link 6 and a lower link 7. The upper link 6 is connected to the lower link 7 via a sliding joint. The upper link 6 is connected to the moving platform 2 via a first Hooke hinge 8. The lower link 7 is connected to the connecting platform 3 via a second Hooke hinge 9. The driving sliding joint of the drive branch consists of a hydraulic linear motion drive or a linear motion drive consisting of a motor and a helical joint. The drive branch uses a sliding joint connecting the upper link 6 and the lower link 7, combined with the flexible connection characteristics of the Hooke hinge, allowing the robot mechanism to adapt to certain deformations and displacements during movement, thus improving the robustness and reliability of the mechanism.

[0031] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0032] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the utility model to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of this utility model, thereby enabling those skilled in the art to better understand and utilize it. This utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A parallel robot mechanism, characterized in that: Includes a fixed platform (1), a moving platform (2), and a connecting platform (3); The moving platform (2) moves linearly on the fixed platform (1); a lead screw motor (4) is installed through the fixed platform (1); and an internally threaded pipe (5) that is threadedly connected to the lead screw of the lead screw motor (4) is installed through the moving platform (2). The moving platform (2) and the connecting platform (3) are connected by three identical drive branches; the angle between the connection points of two adjacent drive branches and the connecting platform (3) is 120°.

2. The parallel robot mechanism according to claim 1, characterized in that, The fixed platform (1) includes a triangular plate (11); the triangular plate (11) has several mounting holes (12); and a guide cylindrical rod (13) is vertically fixed at the triangular part of the lower surface of the triangular plate (11).

3. The parallel robot mechanism according to claim 2, characterized in that, The moving platform (2) includes three I-beams (21) fixed at equal angles to the outer wall of the internally threaded pipe (5); the ends of the I-beams (21) are fixed with Hooke's hinge connecting seats (22) that are connected and cooperate with the drive branch; a rectangular support rod (23) extending along the axis of the I-beams (21) is fixed on the Hooke's hinge connecting seat (22); the ends of the rectangular support rod (23) are fixed with guide sleeves (24) that are linearly slidingly cooperate with the guide cylindrical rod (13); and a limit plate (14) is installed at the ends of the guide cylindrical rod (13) by bolts.

4. The parallel robot mechanism according to claim 1, characterized in that, The connecting platform (3) is a triangular pyramid structure; a through hole (31) is provided at the axis of the connecting platform (3); three positioning grooves (32) are provided on the end face of the connecting platform (3) away from the fixed platform (1).

5. The parallel robot mechanism according to claim 1, characterized in that, The drive branch includes an upper link (6) and a lower link (7); the upper link (6) is connected to the lower link (7) via a sliding joint; the upper link (6) is connected to the moving platform (2) via a first Hooke hinge (8); the lower link (7) is connected to the connecting platform (3) via a second Hooke hinge (9).

6. The parallel robot mechanism according to claim 5, characterized in that, The driving moving pair of the driving branch is composed of a hydraulic linear motion driving device or a linear motion driving device composed of an electric motor and a screw pair.

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