Reconfigurable parallel robot driven by lead screw and nut

Abstract

The reconfigurable parallel robot driven by the lead screw and the nut comprises a plurality of sets of transmission assemblies, each transmission assembly comprises at least one fixed guide rod, the guide rods are connected with transmission sliding blocks capable of sliding, and the upper ends of the transmission sliding blocks are fixedly connected with lower connecting joints; a platform; the connecting assemblies are in one-to-one correspondence with the transmission assemblies, each connecting assembly comprises a connecting rod and an upper connecting joint connected to the lower side of the platform, an upper connector is hinged to the upper connecting joint, a lower connector is hinged to the lower connecting joint, and the connecting rod is connected between the upper connector and the lower connector; by means of the two operation modes, movement of the platform under different types of freedom degrees is achieved, and the application range is widened.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, and in particular to a reconfigurable parallel robot driven by a lead screw and nut. Background Technology

[0002] Parallel robots consist of a closed-loop structure formed by multiple kinematic chains connected in parallel. Due to this closed-loop structure, they are compact, highly precise and rigid, have a large load-bearing capacity, and exhibit no cumulative error. Parallel robots are primarily used in scenarios requiring high speed and heavy loads, such as assembly and handling operations in the automotive, electronics, and food processing industries. Existing technology discloses an invention patent with publication number CN112775938A entitled "A Small Six-Degree-of-Freedom Parallel Robot," which includes a movable platform, a fixed base, and six kinematic chains. The movable platform and fixed base are arranged side-by-side, with the two ends of each kinematic chain distributed circumferentially along the movable platform and fixed base. Each kinematic chain includes an electric actuator and two Hooke hinges. The two ends of the electric actuator are movably connected to the movable platform and fixed base via Hooke hinges, driving the movable platform to rotate radially along the fixed base. A drive assembly is installed within the electric actuator, which drives the movable platform to move axially along the fixed base. This robot places the rotary axis inside the electric push rod. The axial movement of the rotary axis and the electric push rod are in the same direction. It is not subject to additional radial force and converts the rotary feed motion of the lead screw nut into a pure feed motion of free rotation. It has a high degree of freedom, but it is difficult to control. The type of degree of freedom is fixed in a single operation mode, and it does not have good working flexibility and extensibility. Utility Model Content

[0003] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the present invention.

[0004] In view of the problems existing in the above and / or existing parallel robots, this utility model is proposed.

[0005] Therefore, the purpose of this utility model is to provide a reconfigurable parallel robot driven by a lead screw and nut, which can realize the translation of the platform, or a composite motion of the platform's translation and synchronous rotation, and has a certain degree of operational flexibility.

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a reconfigurable parallel robot driven by a lead screw and nut, comprising,

[0007] Several sets of transmission components, each transmission component including at least one fixed guide rod, a slidable transmission slider connected to the guide rod, and a lower connecting joint fixedly connected to the upper end of the transmission slider;

[0008] platform;

[0009] Several connecting components corresponding one-to-one with the transmission components are provided. Each connecting component includes a connecting rod and an upper connecting joint connected to the lower side of the platform. An upper connector is hinged to the upper connecting joint, and a lower connector is hinged to the lower connecting joint. The connecting rod is connected between the upper connector and the lower connector.

[0010] As a preferred embodiment of the reconfigurable parallel robot driven by the lead screw and nut in this utility model, the lower connecting joint includes a lower support portion fixedly connected to the upper side of the transmission slider, lower vertical connecting portions fixed on both sides of the lower support portion, a lower connecting hole opened on the lower vertical connecting portion, the two lower vertical connecting portions being rotatably connected to a first lower rotating shaft through the lower connecting hole, a second lower rotating shaft being fixed at the center of the first lower rotating shaft, the central axis of the second lower rotating shaft being perpendicular to the central axis of the first lower rotating shaft, and the lower connector being rotatably connected to the second lower rotating shaft.

[0011] As a preferred embodiment of the reconfigurable parallel robot driven by the lead screw and nut in this utility model, the upper connecting joint includes an upper support portion fixedly connected to the lower side of the platform. Upper vertical connecting portions are fixed to both sides of the upper support portion. Each upper vertical connecting portion has an upper connecting hole. The two upper vertical connecting portions are rotatably connected to a first upper rotating shaft via the upper connecting holes. A second upper rotating shaft is fixed to the center of the first upper rotating shaft. The central axis of the second upper rotating shaft is perpendicular to the central axis of the first upper rotating shaft. The upper connector is rotatably connected to the second upper rotating shaft. The central axis of the second upper rotating shaft is perpendicular to the central axis of the connecting rod.

[0012] As a preferred embodiment of the reconfigurable parallel robot driven by the lead screw and nut in this utility model, the transmission assembly includes a first fixed plate and a second fixed plate, the guide rod is fixedly connected between the first fixed plate and the second fixed plate, a transmission lead screw is rotatably connected between the first fixed plate and the second fixed plate, and the transmission slider is threadedly connected to the transmission lead screw.

[0013] As a preferred embodiment of the reconfigurable parallel robot driven by the lead screw and nut in this utility model, the transmission assembly further includes a motor plate, the first fixing plate is located between the motor plate and the second fixing plate, and a transmission motor is fixedly connected to the side of the motor plate away from the first fixing plate.

[0014] As a preferred embodiment of the reconfigurable parallel robot driven by the lead screw and nut in this utility model, wherein: a lower end cover is fixedly connected to both sides of the lower connector, a lower fastening hole is opened in the center of the lower end cover, and a fastening countersunk hole coaxial with the lower fastening hole is opened on the second lower rotating shaft.

[0015] As a preferred embodiment of the reconfigurable parallel robot driven by the lead screw and nut in this utility model, wherein: the lower end of the connecting rod is provided with a lower limit countersinking hole, the lower connector is provided with a lower limit rotating hole coaxial with the lower limit countersinking hole, the upper end of the connecting rod is provided with an upper limit countersinking hole, and the upper connector is provided with an upper limit rotating hole coaxial with the upper limit countersinking hole.

[0016] Compared with the prior art, this utility model has the following technical effects: By screwing fastening screws into the lower fastening hole and the fastening countersunk hole, the second lower rotating shaft is fixed on the lower connector. The connecting rod can rotate within the upper and lower connectors. When each transmission slider slides along the guide rod, the transmission slider sequentially drives the platform to translate and rotate via the lower connector, connecting rod, upper connector, and upper connecting joint. When the platform moves to a suitable position and the angle is adjusted to a suitable angle, the corresponding transmission motors stop operating, realizing multi-directional position adjustment of the platform. The fastening screws on the second lower rotating shaft and the lower end cover are then loosened. By sequentially passing the fastening screws through the lower limit rotating hole and the corresponding lower limit countersunk hole, the lower connector and the corresponding connecting rod are fixedly connected. Similarly, by sequentially passing the fastening screws through the upper limit rotating hole and the corresponding upper limit countersunk hole, the upper connector and the corresponding connecting rod are fixedly connected. This controls the operation of the drive motors. When the drive slider slides along the guide rod, it drives the platform to maintain its original angular translation via the connected lower connector, connecting rod, and upper connector. When the platform moves to the appropriate position, each drive motor stops operating. Through these two operating modes, the platform can achieve different degrees of freedom of movement, thus improving its applicability. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of 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. Among them:

[0018] Figure 1 This is the three-dimensional structure of the lower end cap fixedly connected to the second lower rotating shaft in this utility model. Figure 1 .

[0019] Figure 2 for Figure 1 A magnified view of a portion of point A in the middle.

[0020] Figure 3This is the three-dimensional structure of the lower end cap fixedly connected to the second lower rotating shaft in this utility model. Figure 2 .

[0021] Figure 4 for Figure 3 A magnified view of a section at point B.

[0022] Figure 5 This is a three-dimensional structural diagram of the connector and connecting rod fixedly connected together in this utility model.

[0023] Figure 6 for Figure 5 A magnified view of a section at point C.

[0024] Figure 7 This is a three-dimensional structural diagram of the lower connector of this utility model when it is set to a transparent state.

[0025] Figure 8 for Figure 7 A magnified view of a section at point D.

[0026] Figure 9 This is a three-dimensional structural diagram of the lower connector in this utility model.

[0027] In the diagram, 100 is the transmission assembly, 101 is the second fixed plate, 102 is the guide rod, 103 is the first fixed plate, 104 is the motor plate, 105 is the transmission motor, 106 is the transmission slider, 107 is the transmission lead screw, 108 is the lower connecting joint, 1081 is the lower support part, 1082 is the lower vertical connecting part, 200 is the platform, 300 is the connecting assembly, 301 is the upper connector, 3011 is the upper limit rotating hole, 302 is the connecting rod, 3021 is the limiting sleeve, 303 is the upper connecting joint, 3031 is the upper vertical connecting part, 3032 is the upper support part, 304 is the lower connector, 3041 is the lower limit rotating hole, 3042 is the rotating groove, 305 is the lower end cover, 3051 is the fastening hole, 306 is the second lower rotating shaft, 307 is the first lower rotating shaft, 308 is the limiting cover, and 400 is the fastening screw. Detailed Implementation

[0028] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0029] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0030] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that excludes other embodiments.

[0031] Example 1

[0032] Reference Figures 1-6 This embodiment provides a reconfigurable parallel robot driven by a lead screw and nut, which can realize different motion modes of the platform 200 under different operating modes, thereby improving its applicability.

[0033] A reconfigurable parallel robot driven by a lead screw and nut includes a platform 200, several sets of transmission components 100, and several connection components 300 corresponding to the transmission components 100. Each transmission component 100 includes at least one fixed guide rod 102, and a slidable transmission slider 106 is connected to the guide rod 102. A lower connecting joint 108 is fixedly connected to the upper end of the transmission slider 106. In this embodiment, three sets of transmission components 100 are provided, and the three sets of transmission components 100 are evenly distributed at 120°. The connection component 300 includes a connecting rod 302 and an upper connecting joint 303 connected to the lower side of the platform 200. An upper connector 301 is hinged to the upper connecting joint 303, and a lower connector 304 is hinged to the lower connecting joint 108. The connecting rod 302 is rotatably connected between the upper connector 301 and the lower connector 304.

[0034] Specifically, the lower connecting joint 108 includes a lower support portion 1081 fixedly connected to the upper side of the transmission slider 106. Lower vertical connecting portions 1082 are fixed on both sides of the lower support portion 1081. Lower connecting holes are opened on the lower vertical connecting portions 1082. A first lower rotating shaft 307 is rotatably connected to the two lower vertical connecting portions 1082 through the lower connecting holes. A second lower rotating shaft 306 is fixed to the center of the first lower rotating shaft 307. The central axis of the second lower rotating shaft 306 is perpendicular to the central axis of the first lower rotating shaft 307. A lower connector 304 is rotatably connected to the second lower rotating shaft 306. The connecting joint 303 includes an upper support part 3032 fixedly connected to the lower side of the platform 200. Upper vertical connecting parts 3031 are fixed on both sides of the upper support part 3032. The upper vertical connecting parts 3031 have upper connecting holes. The two upper vertical connecting parts 3031 can be rotatably connected to a first upper rotating shaft through the upper connecting holes. A second upper rotating shaft is fixed at the center of the first upper rotating shaft. The central axis of the second upper rotating shaft is perpendicular to the central axis of the first upper rotating shaft. The upper connector 301 can be rotatably connected to the second upper rotating shaft. The central axis of the second upper rotating shaft is perpendicular to the central axis of the connecting rod 302.

[0035] Specifically, lower end caps 305 are fixedly connected to both sides of the lower connector 304. The lower end cap 305 has a lower fastening hole 3051 in the center. The second lower rotating shaft 306 has a fastening countersunk hole that is coaxial with the lower fastening hole 3051.

[0036] When adjusting the position and tilt angle of platform 200, refer to Figures 1-4 Using fastening screws 400 screwed into the lower fastening hole 3051 and the fastening countersunk hole, the second lower rotating shaft 306 is fixed on the lower connector 304. The connecting rod 302 can rotate within the upper connector 301 and the lower connector 304. The upper and lower ends of the connecting rod 302 are rotatably connected to the upper connector 301 and the lower connector 304 respectively via support bearings. The support bearing drives the slider 106 to slide along the guide rod 102. The slider 106 drives the platform 200 to translate and rotate sequentially through the lower connector 304, the connecting rod 302, the upper connector 301 and the upper connecting joint 303. When the platform 200 moves to a suitable position and the angle is adjusted to a suitable angle, the slider 106 stops moving.

[0037] Specifically, the lower end of the connecting rod 302 has a lower limit countersinking hole, the lower connector 304 has a lower limit rotating hole 3041 coaxial with the lower limit countersinking hole, the upper end of the connecting rod 302 has an upper limit countersinking hole, and the upper connector 301 has an upper limit rotating hole 3011 coaxial with the upper limit countersinking hole.

[0038] To allow the connecting rod 302 to rotate within the upper connector 301 and the lower connector 304, the fastening screws 400 in the lower limit countersinking hole and the upper limit countersinking hole must first be unscrewed.

[0039] When platform 200 maintains its original angle and moves horizontally, loosen the fastening screws 400 on the second lower rotating shaft 306 and the lower end cover 305, as per reference. Figure 5 and Figure 6 The fastening screws 400 are sequentially passed through the lower limit rotating hole 3041 and the corresponding lower limit countersunk hole to achieve a fixed connection between the lower connector 304 and the corresponding connecting rod 302. The fastening screws 400 are sequentially passed through the upper limit rotating hole 3011 and the corresponding upper limit countersunk hole to achieve a fixed connection between the upper connector 301 and the corresponding connecting rod 302. The transmission slider 106 is controlled to slide along the guide rod 102. The transmission slider 106 drives the platform 200 to maintain the original angle translation through the connected lower connector 304, connecting rod 302 and upper connector 301. When the platform 200 moves to the appropriate position, the transmission slider 106 is controlled to stop moving.

[0040] Through the two operating modes described above, the platform 200 can achieve movements with different degrees of freedom, thus expanding its applicability and providing a certain degree of operational flexibility. By locking different axes, the platform 200 can achieve one horizontal and two vertical rotations, as well as three-dimensional translation, thereby meeting various processing requirements.

[0041] Example 2

[0042] Reference Figures 1-6 This embodiment provides a reconfigurable parallel robot driven by a lead screw and nut. The difference between this embodiment and Embodiment 1 is that it can further facilitate the position adjustment of the platform 200.

[0043] Specifically, the transmission assembly 100 includes a motor plate 104, a first fixed plate 103, and a second fixed plate 101. Two guide rods 102 are fixedly connected between the first fixed plate 103 and the second fixed plate 101. A transmission screw 107 is located between the two corresponding guide rods 102. The transmission screw 107 is also rotatably connected between the first fixed plate 103 and the second fixed plate 101. A transmission slider 106 is threadedly connected to the transmission screw 107. The first fixed plate 103 is located between the motor plate 104 and the second fixed plate 101. A transmission motor 105 is fixedly connected to the side of the motor plate 104 away from the first fixed plate 103. A drive shaft is connected to the transmission motor 105. The drive shaft is connected to the transmission screw 107 via a coupling.

[0044] When the position of the transmission slider 106 needs to be adjusted, the corresponding transmission motor 105 is activated, the drive shaft rotates, and the drive shaft drives the transmission screw 107 to rotate via the coupling. The transmission screw 107 drives the transmission slider 106 to slide along the guide rod 102. When the transmission slider 106 moves to the appropriate position, the transmission motor 105 stops. By controlling the operation of the transmission motor 105, the position adjustment of the platform 200 is achieved.

[0045] Example 3

[0046] Reference Figures 7-9 This embodiment provides a reconfigurable parallel robot driven by a lead screw and nut. The difference between this embodiment and embodiment 2 is that when the upper and lower ends of the connecting rod 302 are rotatably connected to the upper connector 301 and the lower connector 304 respectively, the axial movement of the upper connector 301 can be restricted.

[0047] Specifically, both the upper and lower parts of the connecting rod 302 are fixed with limit sleeves 3021. Taking the connection between the lower connector 304 and the connecting rod 302 as an example, the upper end of the lower connector 304 has a circular rotating groove 3042, and the limit sleeve 3021 is inserted into the rotating groove 3042. The upper side of the lower limit sleeve 3021 is fitted with a limit cover 308 on the connecting rod 302, and the limit cover 308 is fixedly connected to the upper side of the lower connector 304.

[0048] When the connecting rod 302 is not fixedly connected to the lower connector 304, that is, when the connecting rod 302 can rotate within the lower connector 304, the limiting cover 308 and the lower connector 304 restrict the axial movement of the connecting rod 302, thereby improving the reliability of the connection between the connecting rod 302 and the lower connector 304. The structure of the connection between the connecting rod 302 and the upper connector 301 is similar to that of the connection between the connecting rod 302 and the lower connector 304, except that the upper limiting cover 308 is fixedly connected to the lower side of the upper connector 301, and a circular rotating groove 3042 is opened at the downward end of the upper connector 301. The specific connection structure is not described in detail in this application, and it does not affect the understanding of the solution by those skilled in the art.

Claims

1. A reconfigurable parallel robot driven by a lead screw and nut, characterized in that: include, Several sets of transmission components, each transmission component including at least one fixed guide rod, a slidable transmission slider connected to the guide rod, and a lower connecting joint fixedly connected to the upper end of the transmission slider; platform; Several connecting components corresponding one-to-one with the transmission components are provided. Each connecting component includes a connecting rod and an upper connecting joint connected to the lower side of the platform. An upper connector is hinged to the upper connecting joint, and a lower connector is hinged to the lower connecting joint. The connecting rod is connected between the upper connector and the lower connector.

2. The reconfigurable parallel robot driven by a lead screw and nut as described in claim 1, characterized in that: The lower connecting joint includes a lower support portion fixedly connected to the upper side of the transmission slider. Lower vertical connecting portions are fixed on both sides of the lower support portion. The lower vertical connecting portions have lower connecting holes. The two lower vertical connecting portions are rotatably connected to a first lower rotating shaft through the lower connecting holes. A second lower rotating shaft is fixed at the center of the first lower rotating shaft. The central axis of the second lower rotating shaft is perpendicular to the central axis of the first lower rotating shaft. The lower connector is rotatably connected to the second lower rotating shaft.

3. The reconfigurable parallel robot driven by a lead screw and nut as described in claim 2, characterized in that: The upper connecting joint includes an upper support portion fixedly connected to the lower side of the platform. Upper vertical connecting portions are fixed on both sides of the upper support portion. The upper vertical connecting portions have upper connecting holes. The two upper vertical connecting portions are rotatably connected to a first upper rotating shaft through the upper connecting holes. A second upper rotating shaft is fixed at the center of the first upper rotating shaft. The central axis of the second upper rotating shaft is perpendicular to the central axis of the first upper rotating shaft. The upper connector is rotatably connected to the second upper rotating shaft. The central axis of the second upper rotating shaft is perpendicular to the central axis of the connecting rod.

4. The reconfigurable parallel robot driven by a lead screw and nut as described in any one of claims 1 to 3, characterized in that: The transmission assembly includes a first fixed plate and a second fixed plate. The guide rod is fixedly connected between the first fixed plate and the second fixed plate. A transmission screw is also rotatably connected between the first fixed plate and the second fixed plate. The transmission slider is threadedly connected to the transmission screw.

5. The reconfigurable parallel robot driven by a lead screw and nut as described in claim 4, characterized in that: The transmission assembly also includes a motor plate, with the first fixing plate located between the motor plate and the second fixing plate, and a transmission motor fixedly connected to the side of the motor plate away from the first fixing plate.

6. The reconfigurable parallel robot driven by a lead screw and nut as described in claim 3, characterized in that: The lower connector is fixedly connected to both sides with a lower end cap. The lower end cap has a lower fastening hole in the center. The second lower rotating shaft has a fastening countersunk hole that is coaxial with the lower fastening hole.

7. The reconfigurable parallel robot driven by a lead screw and nut as described in claim 3, characterized in that: The lower end of the connecting rod has a lower limit countersinking hole, and the lower connector has a lower limit rotating hole that is coaxial with the lower limit countersinking hole.

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