A portable five-axis parallel robot

Abstract

This utility model discloses a portable five-axis parallel robot, relating to the field of machining robot technology. The utility model includes a moving platform constraint truss, a fixed platform support frame, a parallel drive guide chain assembly, and a moving platform. The fixed platform support frame consists of symmetrical side support frames, a bottom connecting frame, and diagonal support reinforcing beams, forming a high-rigidity support frame. The moving platform constraint truss forms a closed spatial structure through rigid rods and multi-directional connection nodes, with connecting plates enhancing its overall integrity. The parallel drive guide chain assembly contains five sets of drive guide chains, with guide sleeves guiding the chain transmission rods for precise movement, and multiple sets collaboratively driving the moving platform. This utility model achieves smooth five-degree-of-freedom motion of the moving platform and end effector by optimizing the rigidity of the support structure, enhancing the stability of the constraint truss, and implementing multi-chain collaborative drive, balancing portability and high precision.

Description

Technical Field

[0001] This utility model belongs to the field of processing robot technology, and in particular relates to a portable five-axis parallel robot. Background Technology

[0002] As modern manufacturing moves towards higher precision and flexibility, parallel robots, with their advantages of high rigidity, fast response, and accurate positioning, are widely used in machining, assembly, and sorting. Among them, five-axis parallel robots, capable of complex multi-degree-of-freedom motion, are suitable for curved surface machining and multi-directional assembly, making them an important alternative to traditional serial robots. Especially in portable applications, higher demands are placed on the robot's compact structure, ease of movement, and motion stability.

[0003] However, some devices oversimplify the support structure in pursuit of portability, resulting in insufficient connection rigidity between the fixed platform and the moving platform, which easily causes vibration during high-speed movement or load changes. At the same time, the guide structure design of the drive chain is unreasonable, and jamming or shaking is prone to occur during the chain transmission process, causing the motion trajectory of the end effector (such as machining tool) to deviate, which in turn leads to problems such as reduced machining accuracy and deterioration of surface quality. Utility Model Content

[0004] The purpose of this invention is to provide a portable five-axis parallel robot that solves the problems of unstable motion and end effector trajectory deviation caused by insufficient rigidity of the support structure and unreasonable guidance of the drive chain in existing five-axis parallel robots.

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

[0006] This utility model is a portable five-axis parallel robot, including a moving platform constraint truss, a parallel drive guide chain assembly installed on the moving platform constraint truss, a moving platform installed at the end of the parallel drive guide chain assembly, and a fixed platform support frame installed below the moving platform constraint truss;

[0007] The fixed platform support frame includes symmetrically arranged two side support frames, with a bottom connecting frame fixedly connected between the two side support frames. An upper support hinge seat is rotatably installed on the top of the side support frame, a first lower support seat is fixedly installed on the inner side of the side support frame, and a second lower support seat and a diagonal support reinforcing beam are fixedly installed on the top of the bottom connecting frame.

[0008] The present invention is further configured such that the dynamic platform constraint truss includes rigid rods, multi-directional connection nodes, connecting plates and connecting seats, the rigid rods are fixedly connected to each other through the multi-directional connection nodes to form multiple closed spaces, and the connecting plates are fixedly installed in the closed spaces.

[0009] The present invention is further configured such that a plurality of the multi-directional connection nodes are respectively fixedly connected to the upper support hinge seat, the first lower support seat and the second lower support seat of the fixed platform support frame.

[0010] The present invention is further configured such that the connecting seat is fixedly connected to the upper end of the inclined support reinforcing beam.

[0011] The present invention is further configured such that the parallel drive guide chain group includes five drive guide chains, each drive guide chain including a chain connecting flange mounted on a connecting plate, a chain guide sleeve fixedly mounted on the inner circumferential side of the chain connecting flange, and a chain transmission rod slidably fitted through the inner circumferential side of the chain guide sleeve.

[0012] The present invention is further configured such that a moving platform hinge joint is fixedly installed at one end of the branch chain drive rod, and the moving platform hinge joint is fixedly connected to the moving platform.

[0013] This utility model has the following beneficial effects:

[0014] This invention designs the fixed platform support frame as a symmetrical structure of side support frames and bottom connecting frames, and adds diagonal support reinforcing beams. The moving platform constraint truss is composed of rigid rods and multi-directional connection nodes forming a closed space, and is equipped with connecting plates. Combined with the branch guide sleeves and branch transmission rods of five sets of drive guide branches, the robot can achieve stable frame support, rigid truss constraint and precise branch drive during movement. This can effectively solve the problems of unstable movement, end effector trajectory deviation and low machining accuracy caused by insufficient support rigidity, structural deformation and transmission deviation in traditional five-axis parallel robots during operation.

[0015] 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

[0016] 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.

[0017] Figure 1 This is a schematic diagram of the structure of this utility model;

[0018] Figure 2 A structural schematic diagram of the dynamic platform constraint truss and parallel drive guide chain assembly;

[0019] Figure 3 This is a structural diagram of the platform support frame;

[0020] Figure 4 A schematic diagram of the structure for driving the guide chain.

[0021] The attached diagram lists the components represented by each number as follows:

[0022] 1. Moving platform constraint truss; 11. Rigid bar; 12. Multi-directional connection node; 13. Connecting plate; 14. Connecting seat; 2. Fixed platform support frame; 21. Side support frame; 22. Bottom connecting frame; 23. Upper support hinge seat; 24. First lower support seat; 25. Second lower support seat; 26. Diagonal support reinforcing beam; 3. Parallel drive guide chain assembly; 31. Drive guide chain; 32. Chain transmission rod; 33. Chain guide sleeve; 34. Chain connecting flange; 35. Moving platform hinge joint; 4. Moving platform. Detailed Implementation

[0023] 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 skilled in the art without creative effort are within the protection scope of the present utility model. Specific Implementation

[0025] Please see Figure 1-4 This utility model is a portable five-axis parallel robot, including a moving platform constraint truss 1, a parallel drive guide chain group 3 installed on the moving platform constraint truss 1, a moving platform 4 installed at the end of the parallel drive guide chain group 3, and a fixed platform support frame 2 installed below the moving platform constraint truss 1. The overall structure of the five-axis parallel robot is constructed by the combination of the moving platform constraint truss 1, the fixed platform support frame 2, the parallel drive guide chain group 3 and the moving platform 4, providing a mounting foundation and motion carrier for machining tools, and achieving smooth movement through the cooperation of multiple components.

[0026] Specifically, the fixed platform support frame 2 includes symmetrically arranged two side support frames 21, with a bottom connecting frame 22 fixedly connected between the two side support frames 21. An upper support hinge seat 23 is rotatably installed on the top of the side support frame 21, and a first lower support seat 24 is fixedly installed on the inner side of the side support frame 21. A second lower support seat 25 and a diagonal support reinforcing beam 26 are fixedly installed on the top of the bottom connecting frame 22. The side support frame 21 and the bottom connecting frame 22 form a stable support frame. The upper support hinge seat 23, the first lower support seat 24, and the second lower support seat 25 provide connection points for the moving platform constraint truss 1. The diagonal support reinforcing beam 26 enhances the overall rigidity of the fixed platform support frame 2, reduces frame vibration during robot movement, and lays the foundation for smooth movement.

[0027] The moving platform constraint truss 1 includes rigid rods 11, multi-directional connection nodes 12, connecting plates 13, and connecting seats 14. The rigid rods 11 are fixedly connected to each other through the multi-directional connection nodes 12 to form multiple closed spaces. The connecting plates 13 are fixedly installed in the closed spaces. The closed space structure formed by the rigid rods 11 and the multi-directional connection nodes 12 utilizes the principle of triangle stability to improve the rigidity of the moving platform constraint truss 1. The connecting plates 13 further strengthen the overall structure, reduce deformation during movement, and ensure the stability of the robot's motion trajectory.

[0028] Several multi-directional connection nodes 12 are fixedly connected to the upper support hinge seat 23, the first lower support seat 24 and the second lower support seat 25 of the fixed platform support frame 2, respectively. The connecting seat 14 is fixedly connected to the upper end of the inclined support reinforcing beam 26. The connection between the multi-directional connection nodes 12 and each support seat realizes the rigid fixation between the moving platform constraint truss 1 and the fixed platform support frame 2. The connection between the connecting seat 14 and the inclined support reinforcing beam 26 further enhances the connection strength between the two, making the force transmission more uniform, reducing the swaying during movement and improving the overall stability.

[0029] The parallel drive guide chain group 3 includes five drive guide chains 31. Each drive guide chain 31 includes a chain connecting flange 34 mounted on the connecting plate 13. A chain guide sleeve 33 is fixedly installed on the inner circumferential side of the chain connecting flange 34. A chain transmission rod 32 is slidably fitted through the inner circumferential side of the chain guide sleeve 33. A moving platform hinge joint 35 is fixedly installed at one end of the chain transmission rod 32. The moving platform hinge joint 35 is fixedly connected to the moving platform 4. The five drive guide chains 31 work together. The chain connecting flange 34 fixes the chain to the moving platform constraint truss 1. The chain guide sleeve 33 guides the movement of the chain transmission rod 32 to ensure its linear motion accuracy. The chain transmission rod 32 drives the moving platform hinge joint 35 to move through extension and retraction, thereby driving the moving platform 4 to achieve multi-directional movement.

[0030] The working principle of this embodiment is as follows: A stable support foundation is formed by the side support frame 21 and the bottom connecting frame 22 of the fixed platform support frame 2, and the inclined support reinforcing beam 26 enhances the overall rigidity, providing a stable installation benchmark for the robot; the rigid rod 11 of the moving platform constraint truss 1 and the multi-directional connection node 12 form a closed space structure, which, combined with the connecting plate 13, enhances the structural rigidity. The multi-directional connection node 12 is fixedly connected to the upper support hinge seat 23, the first lower support seat 24, and the second lower support seat 25 of the fixed platform support frame 2, and the connecting seat 14 is connected. Connected to the inclined support reinforcing beam 26, it achieves uniform force transmission and structural stability; the five sets of drive guide chains 31 of the parallel drive guide chain group 3 work together, the chain connecting flange 34 fixes the chain to the connecting plate 13, the chain guide sleeve 33 guides the chain transmission rod 32 to slide precisely, the chain transmission rod 32 drives the moving platform 4 to move through the moving platform hinge joint 35, the cooperation of multiple sets of chains cancels out the unstable factors of motion, and finally realizes the smooth five-degree-of-freedom motion of the moving platform 4 and the machining tool installed on it, solving the problem of unstable motion.

[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 portable five-axis parallel robot, characterized by: It includes a moving platform constraint truss (1), on which a parallel drive guide chain group (3) is installed, and a moving platform (4) is installed at the end of the parallel drive guide chain group (3). A fixed platform support frame (2) is installed below the moving platform constraint truss (1). The fixed platform support frame (2) includes two symmetrically arranged side support frames (21), and a bottom connecting frame (22) is fixedly connected between the two side support frames (21). The top of the side support frame (21) is rotatably mounted with an upper support hinge seat (23). The inner side of the side support frame (21) is fixedly mounted with a first lower support seat (24). The top of the bottom connecting frame (22) is fixedly mounted with a second lower support seat (25) and an inclined support reinforcing beam (26).

2. The portable five-axis parallel robot of claim 1, wherein, The dynamic platform constraint truss (1) includes rigid rods (11), multi-directional connection nodes (12), connecting plates (13) and connecting seats (14). The rigid rods (11) are fixedly connected to each other through the multi-directional connection nodes (12) to form multiple closed spaces. The connecting plates (13) are fixedly installed in the closed spaces.

3. The portable five-axis parallel robot of claim 2, wherein, Several of the multi-directional connection nodes (12) are fixedly connected to the upper support hinge seat (23), the first lower support seat (24), and the second lower support seat (25) of the fixed platform support frame (2).

4. The portable five-axis parallel robot of claim 3, wherein, The connecting seat (14) is fixedly connected to the upper end of the inclined support reinforcing beam (26).

5. The portable five-axis parallel robot of claim 4, wherein, The parallel drive guide chain group (3) includes five drive guide chains (31). Each drive guide chain (31) includes a chain connecting flange (34) mounted on a connecting plate (13). A chain guide sleeve (33) is fixedly installed on the inner circumferential side of the chain connecting flange (34). A chain transmission rod (32) is slidably fitted through the inner circumferential side of the chain guide sleeve (33).

6. The portable five-axis parallel robot of claim 5, wherein, One end of the branch drive rod (32) is fixedly installed with a moving platform hinge joint (35), and the moving platform hinge joint (35) is fixedly connected to the moving platform (4).

Images