A dual-axis parallel robot

Abstract

The utility model discloses a double -shaft parallel robot, including equipment mounting panel, the top of equipment mounting panel is provided with connecting device, the below of equipment mounting panel is provided with two groups of symmetric drive arrangement, each drive arrangement includes servo motor and steering speed reducer, the steering speed reducer is provided with two -way synchronous output shaft, two -way synchronous output shaft's both ends are provided with rotary connection device, one end of rotary connection device is connected on two -way synchronous output shaft, the other end of rotary connection device is connected with rotary mechanical arm, and the rotary mechanical arm is rotatably connected with driven link assembly, the lower end of two driven link assembly on equipment mounting panel same side is connected with tool mounting platform, solves the existing two -shaft parallel robot motor and speed reducer and directly set up in the one end of mechanical arm, not only occupies the space is big, and left and right sides easy to produce the problem of different step.

Description

Technical Field

[0001] This utility model relates to the field of robot equipment technology, specifically to a dual-axis parallel robot. Background Technology

[0002] In industries such as automation, light industry, food, and medical, robots are often required to perform operations such as handling, packing, insertion, sealing, and packaging. These operations require few degrees of freedom and are characterized by high accuracy and repeatability, high speed, reciprocating motion, and no change in posture during the movement.

[0003] Patent application number 201711472448.3 discloses a two-axis parallel robot and a cargo handling system, relating to the field of robotics. The two-axis parallel robot includes a fixed platform, a transmission chain rotatably connected to one side of the fixed platform, a moving platform rotatably connected to the end of the transmission chain away from the fixed platform, and balancing chains rotatably connected to both the fixed and moving platforms. Two transmission chains are provided, both located in the same plane and symmetrically arranged with respect to the vertical centerline of the fixed platform. Each transmission chain includes a large arm rotatably connected to the fixed platform and a small arm rotatably connected to both the large arm and the moving platform.

[0004] In current technology, the drive structure of a two-axis parallel robot is typically located at one end of the overall equipment, using a motor and planetary reducer for transmission. This single-end drive structure results in a long drive shaft span, potentially causing twisting and asynchronous movement of the left and right linkage components. This affects the stability and accuracy of the entire machine and occupies additional space, making the robot larger and potentially impacting the layout of the production line. Therefore, a more compact two-axis parallel robot is needed to minimize installation space, improve space utilization, and optimize the production line layout. Utility Model Content

[0005] The purpose of this invention is to provide a dual-axis parallel robot, which aims to improve the existing dual-axis parallel robot where the motor and reducer are directly set at one end of the robotic arm, which not only occupies a lot of space, but also easily causes asynchrony between the left and right sides.

[0006] This utility model is implemented as follows: A dual-axis parallel robot includes a device mounting plate. A connecting device is provided on the top of the device mounting plate. Two sets of symmetrically arranged drive devices are provided below the device mounting plate. Each drive device includes a servo motor and a steering reducer. A bidirectional synchronous output shaft is provided on the steering reducer. Rotary connecting devices are provided at both ends of the bidirectional synchronous output shaft. One end of the rotary connecting device is connected to the bidirectional synchronous output shaft, and the other end of the rotary connecting device is connected to a rotating robotic arm. A driven link assembly is rotatably connected to the rotating robotic arm. Tool mounting tables are connected to the lower ends of the two driven linkage assemblies located on the same side of the equipment mounting plate.

[0007] As one embodiment of the present invention, the aforementioned rotating connection device includes an inner bearing support sleeve, a bearing, and an outer bearing support sleeve sequentially sleeved together. The inner bearing support sleeve is connected to the aforementioned bidirectional synchronous output shaft, and the aforementioned rotating robotic arm is rotatably connected to the aforementioned bearing.

[0008] As one embodiment of this utility model, each of the above-mentioned rotating robotic arms is further provided with an adjustment mounting plate and an auxiliary adjustment rod, and the adjustment mounting plate is located at the end of the above-mentioned rotating robotic arm away from the above-mentioned bearing.

[0009] As one embodiment of the present invention, an auxiliary connecting column is provided on the side wall of the above-mentioned equipment mounting plate, the upper end of the above-mentioned auxiliary adjusting rod is rotatably connected to the above-mentioned adjusting mounting plate, and the lower end of the above-mentioned auxiliary adjusting rod is rotatably connected to the auxiliary connecting column of the equipment mounting plate.

[0010] As one embodiment of this utility model, the main body of the aforementioned rotating robotic arm is provided with multiple hollowed-out grooves.

[0011] The aforementioned rotating robotic arm has a rotating connecting rod at one end away from the aforementioned bearing. The aforementioned driven link assembly includes two driven rods, which are respectively located on both sides of the rotating robotic arm. The upper ends of the two driven rods are rotatably connected to the aforementioned rotating connecting rod, and the lower ends of the two driven rods are rotatably connected to the aforementioned tool mounting table.

[0012] As one embodiment of the present invention, the driven link assembly further includes a plurality of reinforcing support plates, which are cross-shaped, and the apex corners of each of the reinforcing support plates are symmetrically fixed to the two driven rods.

[0013] As one embodiment of the present invention, each of the above-mentioned driven linkage assemblies further includes a reinforcing connecting rod, the upper end of each reinforcing connecting rod being rotatably connected to the above-mentioned adjustment mounting plate, and the lower end of each reinforcing connecting rod being rotatably connected to the above-mentioned tool mounting table.

[0014] As one embodiment of this utility model, the tool mounting table described above is provided with tool mounting holes.

[0015] The beneficial effects of this utility model are: 1. By setting two sets of drive devices and installing them vertically in the middle bottom of the equipment mounting plate, instead of directly driving the robotic arm from the side, this utility model reduces the space requirements of the equipment and reduces the overall size of the equipment.

[0016] 2. This utility model features a bidirectional synchronous output shaft on the steering reducer. This bidirectional synchronous output shaft is a key component for achieving synchronous movement of the two rotating robotic arms, ensuring that the robotic arms on both sides can move synchronously and in the same direction without errors. Attached Figure Description

[0017] The accompanying drawings, which form part of this utility model, are used to provide a further understanding of the utility model, making other features, objects, and characteristics of the utility model more apparent. The illustrative embodiments of the utility model and their descriptions are used to explain the utility model and do not constitute an undue limitation of the utility model.

[0018] Figure 1 This is an overall schematic diagram of the present invention; Figure 2 This is a side view of the present invention; Figure 3 This is a schematic diagram of the internal cross-section of this utility model; Figure 4 This is a schematic diagram of the internal structure of this utility model; In the diagram: Equipment mounting plate 1; Connecting device 11; Auxiliary connecting column 12; Drive device 2; Servo motor 21; Steering reducer 22; Bidirectional synchronous output shaft 221; Rotary connecting device 3; Inner bearing support sleeve 31; Bearing 32; Outer bearing support sleeve 33; Rotating robotic arm 4; Multiple hollow slots 40; Adjusting mounting plate 41; Auxiliary adjusting rod 42; Rotary connecting rod 43; Driven connecting rod assembly 5; Driven rod 51; Reinforced support plate 52; Reinforced connecting rod 53; Tool mounting table 6; Tool mounting hole 60. Detailed Implementation

[0019] 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 protection scope of the present utility model.

[0020] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0021] Example 1, as Figures 1-4 As shown, this utility model discloses a dual-axis parallel robot, including a device mounting plate 1. A connecting device 11 is provided on the top of the device mounting plate 1. Two sets of symmetrically arranged drive devices 2 are provided below the device mounting plate 1. Each drive device includes a servo motor 21 and a steering reducer 22. A bidirectional synchronous output shaft 221 is provided on the steering reducer 22. Rotary connecting devices 3 are respectively provided at both ends of the bidirectional synchronous output shaft 221. One end of the rotary connecting device 3 is connected to the bidirectional synchronous output shaft 221, and the other end of the rotary connecting device 3 is connected to a rotating robotic arm 4. A driven link assembly 5 is rotatably connected to the rotating robotic arm 4. The lower ends of the two driven link assemblies 5 located on the same side of the device mounting plate 1 are connected to a tool mounting table 6.

[0022] Specifically, such as Figures 1-2 As shown, the equipment mounting plate 1 serves as the basic support structure for the entire dual-axis parallel robot. A connecting device 11 is installed on the top of the equipment mounting plate 1. This connecting device 11 can be connected to other equipment or fixed structures according to the actual application scenario to achieve the overall positioning and installation of the entire dual-axis parallel robot.

[0023] Two sets of drive units 2 are symmetrically installed below the equipment mounting plate 1. Each set of drive units 2 consists of a servo motor 21 and a steering reducer 22. The servo motor 21 is connected to the steering reducer 22 to ensure that the servo motor 21 can provide power input to the steering reducer 22.

[0024] Only two sets of drive units 2 are set up, and they are installed vertically at the bottom center of the equipment mounting plate 1, instead of directly driving the robotic arm from the side, which reduces the space requirements of the equipment and reduces the overall size of the equipment.

[0025] The steering reducer 22 is equipped with a bidirectional synchronous output shaft 221, which is a key component for realizing the synchronous movement of the two rotating robotic arms 4, ensuring that the two robotic arms 4 can move synchronously in the same direction without errors.

[0026] like Figures 3-4 As shown, rotating connection devices 3 are installed at both ends of the bidirectional synchronous output shaft 221. The rotating connection device 3 consists of an inner bearing support sleeve 31, a bearing 32, and an outer bearing support sleeve 33, which are sequentially fitted together.

[0027] First, connect the inner bearing support sleeve 31 to the bidirectional synchronous output shaft 221, ensuring that it is coaxial with the bidirectional synchronous output shaft 221 and tightly connected to prevent loosening or displacement during operation. Then, install the bearing 32 and the outer bearing support sleeve 33 on the inner bearing support sleeve 31 in sequence, ensuring that the bearing 32 can rotate smoothly between the inner bearing support sleeve 31 and the outer bearing support sleeve 33. One end of the rotating robotic arm 4 is rotatably connected to the bearing 32 in the rotating connection device 3, so that the rotating robotic arm 4 can rotate around the central axis of the bearing 32.

[0028] Multiple hollow slots 40 are provided on the main body of the rotating robotic arm 4. The design of multiple hollow slots 40 can not only reduce the weight of the rotating robotic arm 4 and reduce the load on the drive device 2, but also optimize the overall structural strength and dynamic performance of the robot.

[0029] An adjustment mounting plate 41 is provided at the end of the rotating robotic arm 4 away from the bearing 32. An auxiliary connecting column 12 is provided on the side wall of the equipment mounting plate 1. The upper end of the auxiliary adjusting rod 42 is rotatably connected to the adjustment mounting plate 41, and the lower end is rotatably connected to the auxiliary connecting column 12 of the equipment mounting plate 1. Through the connection of the auxiliary adjusting rod 42, it can play a role in auxiliary support and adjustment during the movement of the rotating robotic arm 4, enhance the stability of the entire structure, and prevent the rotating robotic arm 4 from excessively swinging or deforming during the movement.

[0030] like Figures 3-4 As shown, a rotating connecting rod 43 is provided at the end of the rotating robotic arm 4 away from the bearing 32. The driven link assembly 5 includes two driven rods 51, which are respectively arranged on both sides of the rotating robotic arm 4. The upper ends of the two driven rods 51 are rotatably connected to the rotating connecting rod 43, and the lower ends are rotatably connected to the tool mounting table 6. When the rotating robotic arm 4 rotates under the drive of the drive device 2, the motion can be transmitted to the tool mounting table 6 through the driven rods 51, thereby realizing the motion control of the tool mounting table 6.

[0031] To enhance the structural strength and stability of the driven link assembly 5, multiple reinforcing support plates 52 are provided in the driven link assembly 5. The reinforcing support plates 52 are designed in a cross shape, and the apex corners of each reinforcing support plate 52 are symmetrically fixed to two driven rods 51. Through this cross-fixing method, the force borne by the driven rods 51 during the movement can be effectively distributed, thereby improving the overall rigidity and deformation resistance of the driven link assembly 5.

[0032] Each driven link assembly 5 also includes a reinforcing connecting rod 53. The upper end of each reinforcing connecting rod 53 is rotatably connected to the adjusting mounting plate 41, and the lower end is rotatably connected to the tool mounting table 6. The setting of the reinforcing connecting rod 53 further enhances the connection stability between the driven link assembly 5 and the rotating robotic arm 4 and the tool mounting table 6, ensuring the reliability and accuracy of the entire motion transmission system.

[0033] The lower ends of two driven link assemblies 5 located on the same side of the equipment mounting plate 1 are connected to the tool mounting table 6, i.e., there is one tool mounting table 6 on each side. The tool mounting table 6 can achieve a specific motion trajectory under the drive of the driven link assemblies 5. Tool mounting holes 60 are provided on the tool mounting table 6, through which various working tools can be mounted on the tool mounting table 6, thereby realizing different working tasks of the robot.

[0034] Furthermore, the technical solutions of the various embodiments of this utility model can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0035] The above-described embodiments are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the appended claims.

Claims

1. A dual-axis parallel robot, characterized in that, The device includes a mounting plate (1), a connecting device (11) is provided on the top of the mounting plate (1), and two sets of symmetrically arranged drive devices (2) are provided below the mounting plate (1). Each drive device includes a servo motor (21) and a steering reducer (22). A bidirectional synchronous output shaft (221) is provided on the steering reducer (22). Rotary connecting devices (3) are provided at both ends of the bidirectional synchronous output shaft (221). One end of the rotary connecting device (3) is connected to the bidirectional synchronous output shaft (221), and the other end of the rotary connecting device (3) is connected to a rotating mechanical arm (4). A driven linkage assembly (5) is rotatably connected to the rotating mechanical arm (4). Tool mounting table (6) is connected to the lower end of two driven linkage assemblies (5) located on the same side of the equipment mounting plate (1).

2. The dual-axis parallel robot according to claim 1, characterized in that, The rotating connection device (3) includes an inner bearing support sleeve (31), a bearing (32) and an outer bearing support sleeve (33) that are sequentially fitted together. The inner bearing support sleeve (31) is connected to the bidirectional synchronous output shaft (221), and the rotating mechanical arm (4) is rotatably connected to the bearing (32).

3. The dual-axis parallel robot according to claim 2, characterized in that, Each of the rotating robotic arms (4) is also provided with an adjustment mounting plate (41) and an auxiliary adjustment rod (42), wherein the adjustment mounting plate (41) is located at the end of the rotating robotic arm (4) away from the bearing (32).

4. The dual-axis parallel robot according to claim 3, characterized in that, An auxiliary connecting column (12) is provided on the side wall of the equipment mounting plate (1). The upper end of the auxiliary adjusting rod (42) is rotatably connected to the adjusting mounting plate (41), and the lower end of the auxiliary adjusting rod (42) is rotatably connected to the auxiliary connecting column (12) of the equipment mounting plate (1).

5. The dual-axis parallel robot according to claim 3, characterized in that, The main body of the rotating robotic arm (4) is provided with multiple hollow slots (40).

6. The dual-axis parallel robot according to claim 5, characterized in that, The rotating mechanical arm (4) is provided with a rotating connecting rod (43) at one end away from the bearing (32). The driven link assembly (5) includes two driven rods (51). The two driven rods (51) are respectively provided on both sides of the rotating mechanical arm (4), and the upper ends of the two driven rods (51) are respectively rotatably connected to the rotating connecting rod (43), and the lower ends of the two driven rods (51) are respectively rotatably connected to the tool mounting table (6).

7. The dual-axis parallel robot according to claim 6, characterized in that, The driven link assembly (5) also includes multiple reinforcing support plates (52), which are cross-shaped, and the apex of each reinforcing support plate (52) is symmetrically fixed on two driven rods (51).

8. The dual-axis parallel robot according to claim 6, characterized in that, Each of the driven link assemblies (5) further includes a reinforcing connecting rod (53), the upper end of which is rotatably connected to the adjusting mounting plate (41), and the lower end of which is rotatably connected to the tool mounting table (6).

9. The dual-axis parallel robot according to claim 6, characterized in that, The tool mounting table (6) is provided with tool mounting holes (60).

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