Double-layer six-degree-of-freedom parallel robot platform with adjustable motion space

Abstract

The utility model discloses a double-layer six-degree-of-freedom parallel robot platform with an adjustable motion space, which belongs to the technical field of industrial manufacturing platforms and comprises an upper platform, a lower platform, an upper link mechanism, a slide rail mechanism and a lower link mechanism. The upper connecting rod mechanism comprises a plurality of upper connecting rods; the lower connecting rod mechanism comprises a plurality of lower connecting rods; the upper connecting rod and the lower connecting rod are telescopic rod pieces; the slide rail mechanism comprises a plurality of groups of slide rail assemblies; each sliding rail assembly comprises at least one sliding block, and the sliding blocks can move in at least one direction. The upper end of the upper connecting rod is movably connected with the upper platform, and the lower end is movably connected with a slide block of the slide rail mechanism; the upper end of the lower connecting rod is movably connected with the sliding block of the sliding rail mechanism, and the lower end is movably connected with the lower platform. The six-degree-of-freedom motion mechanism can realize six-degree-of-freedom motion, and has the advantages of adjustable motion space, flexibility, stability and the like.

Description

Technical Field

[0001] This utility model belongs to the field of industrial manufacturing platform technology, and relates to a robot platform, and more particularly to a dual-layer six-degree-of-freedom parallel robot platform with adjustable motion space. Background Technology

[0002] The continuous development of high-end manufacturing has raised the requirements for the configuration of parallel robot platforms, especially in the manufacturing requirements of the electronics, chemical, medical and food industries, as well as the requirements for high precision and stability. Research has found that parallel robot platforms with multiple slide rails connecting the upper and lower platform linkages can significantly improve manufacturing efficiency and manufacturing precision.

[0003] Choosing a suitable manufacturing platform is one of the most crucial steps in industrial manufacturing. Current robot platforms achieve six degrees of freedom by using six electric cylinders staggered on the upper and lower platforms, allowing for flexible posture adjustments during assembly. Robot platforms used in industrial manufacturing must accommodate various postures, degrees of flexibility, and stability requirements. However, most robot platforms on the market currently have relatively poor degrees of freedom, flexibility, and stability. Using a purely ordinary six-degree-of-freedom parallel robot platform will result in insufficient degrees of freedom, inability to reach specific postures, and inadequate stability or flexibility. A purely six-degree-of-freedom platform has limited achievable postures and operates relatively slowly, failing to meet the requirements of some objects. Forcing the platform to reach certain postures may lead to platform collapse. Utility Model Content

[0004] This invention provides a dual-layer, six-degree-of-freedom parallel robot platform with adjustable motion space to overcome the shortcomings of existing technologies.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A dual-layer, six-DOF parallel robot platform with adjustable motion space includes an upper platform and a lower platform, as well as an upper linkage mechanism, a slide rail mechanism, and a lower linkage mechanism. The upper linkage mechanism includes several upper links; the lower linkage mechanism includes several lower links; both the upper and lower links are telescopic rods; the slide rail mechanism includes several sets of slide rail assemblies; each set of slide rail assemblies includes at least one slider, which can move in at least one direction; the upper end of the upper link is movably connected to the upper platform, and the lower end is movably connected to the slider of the slide rail mechanism; the upper end of the lower link is movably connected to the slider of the slide rail mechanism, and the lower end is movably connected to the lower platform.

[0007] To optimize the above technical solution, the specific measures also include:

[0008] Furthermore, the plurality of slide rail assemblies are arranged circumferentially; the slider is capable of moving in both radial and perpendicular directions.

[0009] Furthermore, the slide rail assembly contains two sliders; the number of upper and lower connecting rods is equal to and corresponds one-to-one with the number of sliders in the slide rail mechanism; the lower end of the upper connecting rod is movably connected to the corresponding slider; and the upper end of the lower connecting rod is movably connected to the corresponding slider.

[0010] Furthermore, the slide rail mechanism also includes a connector; the slide rail assembly also includes a lower slide rail and an upper slide rail; the lower slide rails of several slide rail assemblies are arranged radially along the circumference, and their inner ends are all fixed to the connector; the upper slide rail is arranged on the lower slide rail in a direction perpendicular to the lower slide rail and can move along the lower slide rail; two sliders are arranged on the upper slide rail and can move along the upper slide rail.

[0011] Furthermore, both the lower and upper slide rails include a base, a lead screw, a guide rod, and a motor; the base is U-shaped; the lead screw and guide rod are both disposed within the base; the two ends of the lead screw are rotatably connected to the two ends of the base; the two ends of the guide rod are fixed to the two ends of the base; the motor is fixedly installed on the outer side of the base end and can drive the lead screw to rotate relative to the base; the slide rail assembly also includes a connecting slider; the connecting slider is disposed on the lower slide rail; its lead screw, guide rod, and base plate all pass through the connecting slider, and the lead screw is threadedly connected to the connecting slider; the upper slide rail is fixed to the connecting slider; the lead screw of the upper slide rail is divided into two sections in the middle, and the two sections have opposite thread directions; two sliders are disposed on the upper slide rail; the lead screw, guide rod, and base plate of the upper slide rail all pass through the connecting slider, and the two sliders are threadedly connected to the two sections of the lead screw respectively; the lower end of the upper connecting rod is movably connected to the upper surface of the corresponding slider; the upper end of the lower connecting rod is movably connected to the lower surface of the corresponding slider.

[0012] Furthermore, the connector is triangular in shape.

[0013] Furthermore, the plurality of upper connecting rods are arranged circumferentially, with each pair of upper connecting rods forming a group; the upper end of each group of upper connecting rods is movably connected to the same location on the lower surface of the upper platform; the lower end of each group of upper connecting rods is movably connected to two sliders of the same slide rail assembly, or movably connected to two adjacent sliders of adjacent slide rail assemblies; the plurality of lower connecting rods are arranged circumferentially, with each pair of lower connecting rods forming a group; the lower end of each group of lower connecting rods is movably connected to the same location on the upper surface of the lower platform; the upper end of each group of lower connecting rods is movably connected to two sliders of the same slide rail assembly, or movably connected to two adjacent sliders of adjacent slide rail assemblies.

[0014] Furthermore, the slide rail assembly, the upper connecting rod, and the lower connecting rod are all in three groups.

[0015] Furthermore, both the upper and lower connecting rods are movably connected via ball joints.

[0016] Furthermore, both the upper and lower connecting rods are electric cylinders.

[0017] The beneficial effects of this utility model are as follows: This utility model provides a dual-layer six-degree-of-freedom parallel robot platform with adjustable motion space. This parallel robot platform has six degrees of freedom and greater flexibility and stability, enabling it to meet the industrial manufacturing requirements for degrees of freedom, flexibility, and stability. Specifically, multiple sets of slide rail assemblies are arranged in the middle of the parallel robot platform. These slide rail assemblies connect the linkages of the upper and lower platforms, resulting in a dual-layer structure different from traditional robot platforms, forming two six-degree-of-freedom parallel robots. By adjusting the sliders of the slide rail assemblies, the motion space of the robot platform can be adjusted, increasing the flexibility of the robot platform while ensuring its stability. By adjusting the lengths of the upper and lower linkages, precise adjustment of the robot platform's posture can be achieved. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of a two-layer, six-degree-of-freedom parallel robot platform;

[0019] Figure 2 This is a schematic diagram of the slide rail mechanism in a two-layer, six-degree-of-freedom parallel robot platform;

[0020] Figure 3 This is a structural diagram of the upper slide rail / lower slide rail in a two-layer six-degree-of-freedom parallel robot platform;

[0021] Figure 4 This is a structural diagram of the upper platform and upper linkage mechanism in a two-layer six-degree-of-freedom parallel robot platform;

[0022] The labels in the attached diagram are as follows: 1. Upper platform; 2. Upper linkage mechanism; 21. Upper linkage; 3. Slide rail mechanism; 31. Slide rail assembly; 311. Slider; 312. Lower slide rail; 313. Upper slide rail; 314. Base; 315. Lead screw; 316. Guide rod; 317. Motor; 318. Connecting slider; 32. Connector; 4. Lower linkage mechanism; 41. Lower linkage; 5. Lower platform. Detailed Implementation

[0023] The specific embodiments of this utility model are described below with reference to the accompanying drawings.

[0024] like Figure 1 As shown, this utility model provides a dual-layer six-degree-of-freedom parallel robot platform with adjustable motion space, including an upper platform 1, an upper linkage mechanism 2, a slide rail mechanism 3, a lower linkage mechanism 4, and a lower platform 5.

[0025] The upper linkage mechanism 2 includes several upper linkages 21. The lower linkage mechanism 4 includes several lower linkages 41. Both the upper linkages 21 and the lower linkages 41 are telescopic rods. The slide rail mechanism 3 includes several sets of slide rail assemblies 31. Each set of slide rail assemblies 31 includes at least one slider 311, which is capable of moving in at least one direction. The upper end of the upper linkage 21 is movably connected to the upper platform 1, and the lower end is movably connected to the slider 311 of the slide rail mechanism 3. The upper end of the lower linkage 41 is movably connected to the slider 311 of the slide rail mechanism 3, and the lower end is movably connected to the lower platform 5.

[0026] The pose of the parallel robot platform can be adjusted by changing the lengths of the upper link 21 and the lower link 41, thereby achieving six degrees of freedom motion based on the upper platform 1: forward and backward motion along the X-axis, left and right motion along the Y-axis, up and down motion along the Z-axis, pitch motion around the X-axis, roll motion around the Y-axis, and yaw motion around the Z-axis. The robot's motion space can be changed by adjusting the position of the slider 311.

[0027] Regarding slide rail mechanism 3: (as follows) Figure 1 and Figure 2 As shown, in one specific embodiment, several sets of slide rail assemblies 31 are arranged circumferentially, that is, several sets of slide rail assemblies 31 are distributed on a ring. The slider 311 can move in two directions: radially and perpendicular to the radial direction.

[0028] The slide rail assembly 31 contains two sliders 311. The number of upper connecting rods 21 and lower connecting rods 41 is equal to the number of sliders 311 in the slide rail mechanism 3, and they correspond one-to-one. The lower end of the upper connecting rod 21 is movably connected to the corresponding slider 311; the upper end of the lower connecting rod 41 is movably connected to the corresponding slider 311.

[0029] The slide rail mechanism 3 also includes a connector 32. The slide rail assembly 31 also includes a lower slide rail 312 and an upper slide rail 313. The lower slide rails 312 of the plurality of slide rail assemblies 31 are arranged radially along the circumference, that is, along the radial direction of the overall slide rail mechanism 3, and their inner ends are all fixed to the connector 32. The upper slide rail 313 is arranged on the lower slide rail 312 in a direction perpendicular to the lower slide rail 312 and can move along the lower slide rail 312. Two sliders 311 are arranged on the upper slide rail 313 and can move along the upper slide rail 313.

[0030] like Figure 2 and Figure 3As shown, specifically, both the lower slide rail 312 and the upper slide rail 313 include a base 314, a lead screw 315, two guide rods 316, and a motor 317. The base 314 is U-shaped. The lead screw 315 and the two guide rods 316 are all disposed within the base 314. The two ends of the lead screw 315 are rotatably connected to the two ends of the base 314, respectively. The two ends of the guide rods 316 are fixed to the two ends of the base 314, and the two guide rods 316 are respectively disposed on both sides of the lead screw 315. The motor 317 is fixedly installed on the outer side of the end of the base 314 and can drive the lead screw 315 to rotate relative to the base 314.

[0031] The slide rail assembly 31 also includes a connecting slider 318. The connecting slider 318 is mounted on the lower slide rail 312. Its lead screw 315, two guide rods 316, and the base plate of the base 314 all pass through the connecting slider 318, and the lead screw 315 is threadedly connected to the connecting slider 318. The upper slide rail 313 is fixed to the upper or lower surface of the connecting slider 318, such as... Figure 2 As shown, in this embodiment, the upper slide rail 313 is fixed to the upper surface of the connecting slider 318. The motor 317 of the lower slide rail 312 is fixed to the outer end of the base 314. When the motor 317 drives the lead screw 315 to rotate, the connecting slider 318 moves along the lower slide rail 312, thereby driving the upper slide rail 313 to move accordingly.

[0032] The lead screw 315 of the upper slide rail 313 is divided into two sections with opposite thread directions. Two sliders 311 of the same slide rail assembly 31 are mounted on the upper slide rail 313. The lead screw 315, the two guide rods 316, and the base plate of the base 314 of the upper slide rail 313 all pass through the connecting sliders 318, and the two sliders 311 are respectively threaded to the two sections of the lead screw 315. When the motor 317 of the upper slide rail 313 drives the lead screw 315 to rotate, the two sliders 311 move synchronously in opposite directions along the upper slide rail 313, that is, synchronously move towards the middle or both sides of the lead screw, thereby driving the lower end of the upper connecting rod 21 and the upper end of the lower connecting rod 41 connected to it to move.

[0033] The lower end of the upper connecting rod 21 is movably connected to the upper surface of the corresponding slider 311. The upper end of the lower connecting rod 41 is movably connected to the lower surface of the corresponding slider 311.

[0034] In a preferred embodiment, the connector 32 is triangular, thereby ensuring the stability of the slide rail mechanism 3.

[0035] Regarding the upper linkage 2 and the lower linkage 4: (as follows) Figure 1 and Figure 4As shown, several upper connecting rods 21 are arranged circumferentially, with each pair of upper connecting rods 21 forming a group. The upper ends of each group of upper connecting rods 21 are movably connected to the same point on the lower surface of the upper platform 1. The lower ends of each group of upper connecting rods 21 are movably connected to two sliders 311 of the same slide rail assembly 31, or movably connected to two adjacent sliders 311 of adjacent slide rail assemblies 31.

[0036] Several lower connecting rods 41 are arranged circumferentially, with each pair of lower connecting rods 41 forming a group. The lower ends of each group of lower connecting rods 41 are movably connected to the same point on the upper surface of the lower platform 5. The upper ends of each group of lower connecting rods 41 are movably connected to two sliders 311 of the same slide rail assembly 31, or movably connected to two adjacent sliders 311 of adjacent slide rail assemblies 31.

[0037] like Figure 1 and Figure 4 As shown, in this embodiment, the lower end of each set of upper connecting rods 21 is movably connected to two sliders 311 of the same slide rail assembly 31, and the upper end of each set of lower connecting rods 41 is movably connected to two adjacent sliders 311 of an adjacent slide rail assembly 31. Alternatively, it can be configured such that the lower end of each set of upper connecting rods 21 is movably connected to two sliders 311 of the same slide rail assembly 31, and the upper end of each set of lower connecting rods 41 is movably connected to two sliders 311 of the same slide rail assembly 31. Or, the lower end of each set of upper connecting rods 21 is movably connected to two adjacent sliders 311 of an adjacent slide rail assembly 31, and the upper end of each set of lower connecting rods 41 is movably connected to two adjacent sliders 311 of an adjacent slide rail assembly 31.

[0038] In a preferred embodiment, the slide rail assembly 31, the upper connecting rod 21, and the lower connecting rod 41 are all in three groups.

[0039] Both the upper connecting rod 21 and the lower connecting rod 41 are movably connected by ball joints. Both the upper connecting rod 21 and the lower connecting rod 41 are electric cylinders.

[0040] The above structure is combined to form two parallel six-degree-of-freedom (6DOF) robots, one above the other. The intermediate slide rail mechanism can adjust the position of the ball joints of the two robots, specifically the upper plane ball joint position of the lower 6DOF robot and the lower plane ball joint position of the upper 6DOF robot. Since the ball joint position determines the motion space of the six-DOF parallel robot platform, this robot platform has the advantage of adjustable motion space.

[0041] The application of this parallel robot platform in industrial manufacturing includes the following steps: First, determine the pose of the object to be processed. Second, adjust the parallel robot platform to the pose of the object by adjusting the lengths of the upper and lower links and the position of the slider. Finally, place the object on the parallel robot platform for processing.

[0042] It should be noted that the terms such as "upper", "lower", "left", "right", "front", and "back" used in this utility model are only for clarity of description and are not intended to limit the scope of implementation of this utility model. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered as within the scope of implementation of this utility model.

[0043] Finally, it should be noted that the above are merely preferred embodiments of this utility model and are not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A dual-layer, six-DOF parallel robot platform with adjustable motion space, comprising an upper platform and a lower platform, characterized in that: It also includes an upper linkage mechanism, a slide rail mechanism, and a lower linkage mechanism; The upper linkage mechanism includes several upper links; the lower linkage mechanism includes several lower links; both the upper and lower links are telescopic rods. The slide rail mechanism includes several sets of slide rail assemblies; each set of slide rail assemblies includes at least one slider, which is capable of moving in at least one direction. The upper end of the upper connecting rod is movably connected to the upper platform, and the lower end is movably connected to the slider of the slide rail mechanism; the upper end of the lower connecting rod is movably connected to the slider of the slide rail mechanism, and the lower end is movably connected to the lower platform.

2. The dual-layer six-degree-of-freedom parallel robot platform with adjustable motion space according to claim 1, characterized in that: The plurality of slide rail assemblies are arranged circumferentially; the slider is capable of moving in both radial and perpendicular directions.

3. The dual-layer six-degree-of-freedom parallel robot platform with adjustable motion space according to claim 2, characterized in that: The slide rail assembly contains two sliders; The number of upper and lower connecting rods is equal to the number of sliders in the slide rail mechanism and corresponds one-to-one; the lower end of the upper connecting rod is movably connected to the corresponding slider; the upper end of the lower connecting rod is movably connected to the corresponding slider.

4. The dual-layer six-degree-of-freedom parallel robot platform with adjustable motion space according to claim 3, characterized in that: The slide rail mechanism also includes a connector; The slide rail assembly also includes a lower slide rail and an upper slide rail; The lower slide rails of several slide rail assemblies are arranged radially along the circumference, and their inner ends are all fixed to the connecting parts. The upper slide rail is set on the lower slide rail in a direction perpendicular to the lower slide rail, and can move along the lower slide rail; Two sliders are mounted on the upper slide rail and can move along the upper slide rail.

5. The dual-layer six-degree-of-freedom parallel robot platform with adjustable motion space according to claim 4, characterized in that: Both the lower slide rail and the upper slide rail include a base, a lead screw, a guide rod, and a motor; the base is U-shaped; the lead screw and the guide rod are both located inside the base; the two ends of the lead screw are rotatably connected to the two ends of the base respectively; the two ends of the guide rod are fixed to the two ends of the base respectively; the motor is fixedly installed on the outside of the end of the base and can drive the lead screw to rotate relative to the base. The slide rail assembly also includes a connecting slider; the connecting slider is disposed on the lower slide rail; its lead screw, guide rod and base plate all pass through the connecting slider, and the lead screw is threadedly connected to the connecting slider; the upper slide rail is fixed to the connecting slider; The lead screw of the upper slide rail is divided into two sections in the middle, and the threads of the two sections are in opposite directions; two sliders are set on the upper slide rail; the lead screw, guide rod and base plate of the upper slide rail all pass through the connecting sliders, and the two sliders are respectively connected to the two threaded sections of the lead screw; The lower end of the upper connecting rod is movably connected to the upper surface of the corresponding slider; the upper end of the lower connecting rod is movably connected to the lower surface of the corresponding slider.

6. The dual-layer six-degree-of-freedom parallel robot platform with adjustable motion space according to claim 4, characterized in that: The connector is triangular in shape.

7. The dual-layer six-degree-of-freedom parallel robot platform with adjustable motion space according to claim 3, characterized in that: The plurality of upper connecting rods are arranged circumferentially, with each pair of upper connecting rods forming a group; the upper end of each group of upper connecting rods is movably connected to the same point on the lower surface of the upper platform; the lower end of each group of upper connecting rods is movably connected to two sliders of the same slide rail assembly, or movably connected to two adjacent sliders of adjacent slide rail assemblies. The plurality of lower connecting rods are arranged circumferentially, with each pair of lower connecting rods forming a group; the lower end of each group of lower connecting rods is movably connected to the same point on the upper surface of the lower platform; the upper end of each group of lower connecting rods is movably connected to two sliders of the same slide rail assembly, or movably connected to two adjacent sliders of adjacent slide rail assemblies.

8. The dual-layer six-degree-of-freedom parallel robot platform with adjustable motion space according to claim 7, characterized in that: The slide rail assembly, upper connecting rod, and lower connecting rod are all in three groups.

9. The dual-layer six-degree-of-freedom parallel robot platform with adjustable motion space according to claim 1, characterized in that: Both the upper and lower connecting rods are movably connected by ball joints.

10. The dual-layer six-degree-of-freedom parallel robot platform with adjustable motion space according to claim 1, characterized in that: Both the upper and lower connecting rods are electric cylinders.

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