Low-inertia large-swing-angle five-degree-of-freedom parallel robot
By optimizing the arrangement of the guide rails and branch systems, a five-degree-of-freedom parallel robot with low inertia and large swing angle was realized, solving the problems of large inertia and small swing angle, and improving the robot's workspace utilization and motion accuracy.
Patent Information
- Application Number
- CN202520574989.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-28
- Publication Date
- 2026-02-27
- Estimated Expiration
- 2035-03-28
AI Technical Summary
Existing five-degree-of-freedom parallel robots suffer from limited workspace, high energy consumption, and are unsuitable for large swing angle applications due to their large inertia and small swing angle.
A new arrangement of guide rail system and branch system is adopted, in which one end of the branch is connected to the guide rail and the other end is connected to the end effector. With the first and third branches on one side, the second and fourth branches on the other side, and the fifth branch in the middle, a large swing angle motion is achieved.
A five-degree-of-freedom parallel robot with low inertia and large swing angle has been realized, which improves workspace utilization and motion accuracy, and reduces energy consumption.
Smart Images
Figure CN223947911U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model belongs to the field of robot, concretely relates to a low inertia, big swing angle five degrees of freedom parallel robot. BACKGROUND
[0002] Five degrees of freedom robot has important application in the field of mechanical manufacturing, processing, assembly etc. due to its five-axis linkage working capacity. Traditional serial robot is limited by structure, and the stiffness of end effector is low, and the precision is poor. With the development of robot and mechanism, parallel robot gradually matures, and the stiffness and precision are improved due to the geometric characteristics based on closed loop structure.
[0003] However, the existing five degrees of freedom parallel robot is mainly arranged in the middle with driving joint, and this arrangement not only makes each branch chain of the robot exist interference, causes the workspace to reduce, and the inertia of moving parts is large, and the energy consumption is high. Low inertia makes the moving parts of the robot in the process of acceleration or deceleration, and the inertia force of the robot needs to be overcome, allows the robot to respond to the control instruction more quickly and accurately, and reduces the energy loss and improves the energy utilization efficiency. In addition, limited by the connection mode of branch chain and end effector, the swing angle of end effector is generally small, and it is not suitable for application scene requiring large swing angle. The five degrees of freedom robot with large swing angle can operate in a wider area. UTILITARY MODEL CONTENT
[0004] Therefore, the utility model starts from the driving arrangement mode and the connection mode of branch chain and end effector, aims at providing a low inertia, large swing angle five degrees of freedom parallel robot to make up for the shortcomings of large inertia and small swing angle of the current five degrees of freedom parallel robot, and provides an advantageous solution for the automation technology based on parallel robot.
[0005] In order to achieve the above purpose, the utility model provides the following technical scheme:
[0006] A low inertia, large swing angle five degrees of freedom parallel robot, comprising a guide rail system, a branch chain system and an end effector, wherein,
[0007] The guide rail system comprises a first guide rail, a second guide rail and a third guide rail.
[0008] The branch chain system comprises a first branch chain, a second branch chain, a third branch chain, a fourth branch chain and a fifth branch chain.
[0009] The first branch chain comprises a first connecting rod, a first sliding block, a first spherical pair and a second spherical pair; the second branch chain comprises a second connecting rod, a second sliding block, a third spherical pair and a fourth spherical pair; the third branch chain comprises a third connecting rod, a third sliding block, a fifth spherical pair and a sixth spherical pair; the fourth branch chain comprises a fourth connecting rod, a fourth sliding block, a seventh spherical pair and an eighth spherical pair; and the fifth branch chain comprises a fifth connecting rod, a fifth sliding block, a ninth spherical pair and a first rotary pair.
[0010] The end effector comprises a first spherical pair base, a second spherical pair base, a third spherical pair base, a fourth spherical pair base and a first rotary pair base.
[0011] One end of the first connecting rod is connected with the first sliding block through the first spherical pair, the other end is connected with the first spherical pair base on the end effector through the second spherical pair, and the first sliding block slides on the first guide rail; one end of the second connecting rod is connected with the second sliding block through the third spherical pair, the other end is connected with the second spherical pair base on the end effector through the fourth spherical pair, and the second sliding block slides on the third guide rail; one end of the third connecting rod is connected with the third sliding block through the fifth spherical pair, the other end is connected with the third spherical pair base on the end effector through the sixth spherical pair, and the third sliding block slides on the first guide rail; one end of the fourth connecting rod is connected with the fourth sliding block through the seventh spherical pair, the other end is connected with the fourth spherical pair base on the end effector through the eighth spherical pair, and the fourth sliding block slides on the third guide rail; one end of the fourth connecting rod is connected with the fifth sliding block through the ninth spherical pair, the other end is connected with the first rotary pair base on the end effector through the first rotary pair, and the fifth sliding block slides on the second guide rail.
[0012] Further, the lower end faces of the first guide rail, the second guide rail and the third guide rail are parallel to each other, and the front end faces are also parallel to each other.
[0013] Further, the first sliding block and the third sliding block are coaxial, and the second sliding block and the fourth sliding block are coaxial.
[0014] Further, the first sliding block, the second sliding block, the third sliding block, the fourth sliding block and the fifth sliding block are parallel to each other.
[0015] Further, the first branch chain and the third branch chain are arranged on one side of the end effector, the second branch chain and the fourth branch chain are arranged on the other side of the end effector, and the fifth branch chain is arranged between the first branch chain and the second branch chain.
[0016] Further, the end effector is constrained by movement along the axis direction of the first rotary pair, and can only generate three-rotation-two-plane movement.
[0017] Compared with the prior art, the utility model has the beneficial effects that:
[0018] 1) all the branch chains are connected with the guide rails at one end and connected with the end effector at the other end, so that the inertia of the spatial motion component is low;
[0019] 2) the first branch chain and the third branch chain are arranged on one side of the end effector, the second branch chain and the fourth branch chain are arranged on the other side of the end effector, and the fifth branch chain is arranged between the first branch chain and the second branch chain, so that the end effector can realize a large swing angle.
[0020] According to the above arrangement and driving mode, the five-degree-of-freedom parallel robot has a large swing angle and low inertia. BRIEF DESCRIPTION OF DRAWINGS
[0021] Figure 1 is a structural schematic view of the low-inertia and large-swing-angle five-degree-of-freedom parallel robot provided by the embodiment of the utility model;
[0022] Figure 2 is a structural schematic view of the first branch chain, the second branch chain, the third branch chain, the fourth branch chain and the fifth branch chain of the degree-of-freedom parallel robot provided by the embodiment of the utility model;
[0023] Figure 3 is a structural schematic view of the end effector of the degree-of-freedom parallel robot provided by the embodiment of the utility model.
[0024] In the drawings: 1-first guide rail; 2-second guide rail; 3-third guide rail; 4-first branch chain; 5-second branch chain; 6-third branch chain; 7-fourth branch chain; 8-fifth branch chain; 9-end effector; 10-first slider; 11-first spherical pair; 12-first connecting rod; 13-second spherical pair; 14-second slider; 15-third spherical pair; 16-second connecting rod; 17-fourth spherical pair; 18-third slider; 19-fifth spherical pair; 20-third connecting rod; 21-sixth spherical pair; 22-fourth slider; 23-seventh spherical pair; 24-fourth connecting rod; 25-eighth spherical pair; 26-fifth slider; 27-ninth spherical pair; 28-fourth connecting rod; 29-first rotary pair; 30-first spherical pair base; 31-second spherical pair base; 32-third spherical pair base; 33-fourth spherical pair base; 34-first rotary pair base. DETAILED DESCRIPTION
[0025] To make the purpose, technical scheme and advantages of the utility model clearer, the utility model will be described in more detail below in combination with the drawings of the specification, but the utility model is not limited to this.
[0026] For example, Figure 1The utility model discloses a low inertia, big swing angle five degree of freedom parallel robot, including first guide rail 1, second guide rail 2, third guide rail 3, first support chain 4, second support chain 5, third support chain 6, fourth support chain 7, fifth support chain 8 and end effector 9.
[0027] As Figure 2 The first support chain 4 includes: first slider 10, first spherical pair 11, first connecting rod 12, second spherical pair 13, the second support chain 5 includes: second slider 14, third spherical pair 15, second connecting rod 16, fourth spherical pair 17, the third support chain 6 includes: third slider 18, fifth spherical pair 19, third connecting rod 20, sixth spherical pair 21, the fourth support chain 7 includes: fourth slider 22, seventh spherical pair 23, fourth connecting rod 24, eighth spherical pair 25, the fifth support chain 8 includes: fifth slider 26, ninth spherical pair 27, fourth connecting rod 28, first rotary pair 29.
[0028] As Figure 3 The end effector 9 includes: first spherical pair base 30, second spherical pair base 31, third spherical pair base 32, fourth spherical pair base 33, first rotary pair base 34.
[0029] As Figure 1 And 2 One end of the first connecting rod 12 is connected with the first slider 10 through the first spherical pair 11, and the other end is connected with the first spherical pair base 30 on the end effector 9 through the second spherical pair 13, and the first slider 10 slides on the first guide rail 1, one end of the second connecting rod 16 is connected with the second slider 14 through the third spherical pair 15, and the other end is connected with the second spherical pair base 31 on the end effector 9 through the fourth spherical pair 17, and the second slider 14 slides on the third guide rail 3, one end of the third connecting rod 20 is connected with the third slider 18 through the fifth spherical pair 19, and the other end is connected with the third spherical pair base 32 on the end effector 9 through the sixth spherical pair 21, and the third slider 18 slides on the first guide rail 1, one end of the fourth connecting rod 24 is connected with the fourth slider 22 through the seventh spherical pair 23, and the other end is connected with the fourth spherical pair base 33 on the end effector 9 through the eighth spherical pair 25, and the fourth slider 22 slides on the third guide rail 3, one end of the fourth connecting rod 28 is connected with the fifth slider 26 through the ninth spherical pair 27, and the other end is connected with the first rotary pair base 34 on the end effector 9 through the first rotary pair 29, and the fifth slider 26 slides on the second guide rail 2.
[0030] As Figure 1As shown, the lower end faces of the first guide rail 1, the second guide rail 2, and the third guide rail 3 are parallel to each other, and their front end faces are also parallel to each other; the first slider 10 and the third slider 18 are coaxial; the second slider 14 and the fourth slider 22 are coaxial; and the first slider 10, the second slider 14, the third slider 18, the fourth slider 22, and the fifth slider 26 are parallel to each other.
[0031] like Figures 1 to 3 As shown, the first branch 4 and the third branch 6 are located on one side of the end effector 9, the second branch 5 and the fourth branch 7 are located on the other side of the end effector 9, and the fifth branch 8 is located between the first branch 4 and the second branch 5; the end effector 9 is subject to movement constraints along the axis of the first revolute joint 29, and the end effector 9 can only produce three-rotation and two-horizontal motions; through the above arrangement and driving method, the robot of this utility model achieves a large rotation angle and low overall inertia.
[0032] The foregoing description illustrates the basic principles, main features, beneficial effects, and specific embodiments of this utility model. It should be noted that the embodiments described above are merely preferred embodiments of this utility model. For those skilled in the art, various modifications, improvements, and equivalent substitutions can be made to this utility model without departing from its principles, and such modifications, improvements, and equivalent substitutions are also considered to fall within the protection scope of the claims of this utility model.
Claims
1. A low-inertia large-swing-angle five-degree-of-freedom parallel robot, characterized by, The robot comprises a guide rail system, a branch chain system and an end effector, wherein, the guide rail system comprises a first guide rail, a second guide rail and a third guide rail; the branch chain system comprises a first branch chain, a second branch chain, a third branch chain, a fourth branch chain and a fifth branch chain; the first branch chain comprises a first connecting rod, a first slider, a first spherical pair and a second spherical pair; the second branch chain comprises a second connecting rod, a second slider, a third spherical pair and a fourth spherical pair; the third branch chain comprises a third connecting rod, a third slider, a fifth spherical pair and a sixth spherical pair; the fourth branch chain comprises a fourth connecting rod, a fourth slider, a seventh spherical pair and an eighth spherical pair; the fifth branch chain comprises a fifth connecting rod, a fifth slider, a ninth spherical pair and a first rotary pair; the end effector comprises a first spherical pair base, a second spherical pair base, a third spherical pair base, a fourth spherical pair base and a first rotary pair base; wherein one end of the first connecting rod is connected with the first slider through the first spherical pair, the other end is connected with the first spherical pair base on the end effector through the second spherical pair, and the first slider slides on the first guide rail; one end of the second connecting rod is connected with the second slider through the third spherical pair, the other end is connected with the second spherical pair base on the end effector through the fourth spherical pair, and the second slider slides on the third guide rail; one end of the third connecting rod is connected with the third slider through the fifth spherical pair, the other end is connected with the third spherical pair base on the end effector through the sixth spherical pair, and the third slider slides on the first guide rail; one end of the fourth connecting rod is connected with the fourth slider through the seventh spherical pair, the other end is connected with the fourth spherical pair base on the end effector through the eighth spherical pair, and the fourth slider slides on the third guide rail; one end of the fourth connecting rod is connected with the fifth slider through the ninth spherical pair, the other end is connected with the first rotary pair base on the end effector through the first rotary pair, and the fifth slider slides on the second guide rail.
2. The low-inertia large-swing-angle five-degree-of-freedom parallel robot according to claim 1, characterized by, The lower end faces of the first guide rail, the second guide rail and the third guide rail are parallel to each other, and the front end faces are also parallel to each other.
3. The low-inertia large-swing-angle five-degree-of-freedom parallel robot according to claim 1, characterized by, The first slider and the third slider are coaxial, and the second slider and the fourth slider are coaxial.
4. The low-inertia large-swing-angle five-degree-of-freedom parallel robot according to claim 1, characterized by, The first slider, the second slider, the third slider, the fourth slider and the fifth slider are parallel to each other.
5. The low-inertia large-swing-angle five-degree-of-freedom parallel robot according to claim 1, characterized by, The first branch chain and the third branch chain are arranged on one side of the end effector, the second branch chain and the fourth branch chain are arranged on the other side of the end effector, and the fifth branch chain is arranged between the first branch chain and the second branch chain.
6. The low-inertia large-swing-angle five-degree-of-freedom parallel robot according to claim 1, characterized by, The end effector is constrained by movement along the axis direction of the first rotary pair and can only generate three-rotation-two-plane motion.