A multi-motor linear module driven six-degree-of-freedom parallel robot
Patent Information
- Application Number
- CN202522034916.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-22
- Publication Date
- 2026-09-25
- Estimated Expiration
- 2035-09-22
AI Technical Summary
[0003]本实用新型为了解决六自由度并联机器人在狭长区域范围作业的问题
本实用新型提供的一种多动子直线模组驱动的六自由度并联机器人，由多动子直线电机驱动的并联机器人相对滚珠丝杠机构，能够节省运动副硬件数量，能实现动平台6个自由度的运动；6个自由度分别是3个平动、3个转动自由度，沿直线导向部方向的平动自由度行程长，适合狭长区域范围的作业需求。
Smart Images
Figure CN224795690U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of multi-degree-of-freedom robot technology, specifically relating to a six-degree-of-freedom parallel robot driven by a multi-movement linear module. Background Technology
[0002] Six-degree-of-freedom parallel robots in existing technologies, such as Figure 7 , Figure 8 As shown, the moving platform and the stationary platform of the six-DOF parallel robot are connected by a telescopic structure, which is divided into three groups and evenly distributed around the vertical axis of the moving platform and the stationary platform. This layout results in the six-DOF parallel robot having the same movement distance in all directions. When operating in some narrow and long areas, there is a problem that the movement distance in one direction is insufficient, while the movement distance in other directions is redundant. If the six-DOF parallel robot is mounted on a linear motion platform, the structure will be too complicated. Utility Model Content
[0003] This invention aims to solve the problem of six-degree-of-freedom parallel robots operating in narrow and elongated areas.
[0004] This utility model provides the following technical solution: a six-degree-of-freedom parallel robot driven by a multi-moving linear module, including a static platform, a moving platform, a linear guide, and a sliding part; n parallel linear guides are supported by the static platform, where n is an integer greater than 2; m sliding parts are evenly distributed on the n linear guides, with at least 2 sliding parts on each linear guide; the m sliding parts are respectively connected to the moving platform below via connecting rods; the sliding parts and connecting rods, and the moving platform and connecting rods are connected by ball joints; the m sliding parts can translate along the linear guides to adjust the position and tilt angle of the moving platform.
[0005] Furthermore, n equals 2, m equals 6, and the 6 sliding parts are evenly distributed on 2 straight guide parts, with unequal spacing between the sliding parts on the straight guide parts.
[0006] Furthermore, the six-degree-of-freedom parallel robot includes a first state and a second state; In the first state, the six-degree-of-freedom parallel robot is symmetrical about the vertical plane between the two straight guide parts; the plane where the two straight guide parts are located is the first plane, and the six ball joint nodes connecting the moving platform and the linkage are located in the second plane, which is parallel to the first plane. In the second state, the six sliding parts not all move in the same direction but at equal intervals, causing the second plane to tilt relative to the first plane.
[0007] Furthermore, the six ball joint nodes of the moving platform connecting rod are divided into three groups of two, with one group in the center in front and the other two groups on the left and right behind.
[0008] Furthermore, it also includes a multi-moving linear motor, in which the moving part of the multi-moving linear motor serves as a sliding part, and the body of the multi-moving linear motor serves as a linear guide part.
[0009] Furthermore, n equals 3, m equals 6, and the 6 sliding parts are evenly distributed on the 3 straight guide parts.
[0010] Compared with the prior art, the advantages of this utility model are: This utility model provides a six-degree-of-freedom parallel robot driven by a multi-movement linear module. The parallel robot driven by the multi-movement linear motor, relative to the ball screw mechanism, can save the number of kinematic pair hardware and realize the movement of the moving platform in six degrees of freedom. The six degrees of freedom are three translational degrees of freedom and three rotational degrees of freedom. The translational degree of freedom along the direction of the linear guide has a long stroke, which is suitable for the operation needs of narrow and long areas. Attached Figure Description
[0011] Figure 1 This is a schematic diagram of the six-degree-of-freedom parallel robot of Example 1; Figure 2 This is a diagram of the motion mechanism of a six-DOF parallel robot in Example 1; Figure 3 Here is the structural parameter table for the six-DOF parallel robot of Example 1; Figure 4 Here is a table showing the expected motion range of the moving platform in Example 1; Figure 5 For the moving platform in Example 1, the center of the motion range is near (y d =0, z d =-150) condition number; Figure 6 This is a schematic diagram of the six-degree-of-freedom parallel robot in Example 2; Figure 7 This is a schematic diagram of the first type of six-degree-of-freedom parallel robot in the prior art; Figure 8 This is a schematic diagram of a second type of six-degree-of-freedom parallel robot in the prior art.
[0012] In the diagram: 1-Static platform; 2-Moving platform; 3-Linear guide; 4-Sliding part; 5-Connecting rod. Detailed Implementation
[0013] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art 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.
[0014] A six-DOF parallel robot driven by multiple linear modules includes a static platform 1, a moving platform 2, linear guides 3, and sliding parts 4. n parallel linear guides 3 are supported by the static platform 1, where n is an integer greater than 2. m sliding parts 4 are evenly distributed across the n linear guides 3, with at least two sliding parts 4 on each linear guide 3. The m sliding parts 4 are connected to the moving platform 2 below via connecting rods 5. The sliding parts 4 and connecting rods 5, as well as the moving platform 2 and connecting rods 5, are connected via ball joints. The m sliding parts 4 can translate along the linear guides 3 to adjust the position and tilt angle of the moving platform 2.
[0015] Example 1 like Figure 1 As shown: In this embodiment, n equals 2, m equals 6, and the 6 sliding parts 4 are evenly distributed on the 2 straight guide parts 3. The spacing between the sliding parts 4 on the straight guide parts 3 is not equal.
[0016] A six-degree-of-freedom parallel robot includes a first state and a second state; In the first state, the six-degree-of-freedom parallel robot is symmetrical about the mid-plane between the two linear guides 3; the plane where the two linear guides 3 are located is the first plane, and the six ball joint nodes connecting the moving platform 2 and the connecting rod 5 are located in the second plane, which is parallel to the first plane; the six-degree-of-freedom parallel robot is in the first state when it is stationary and reset, and the six sliding parts 4 are also in the first state when they move in the same direction and at the same speed along the linear guides 3.
[0017] In the second state, the six sliding parts 4 do not all move in the same direction and are equidistant, causing the second plane to tilt relative to the first plane.
[0018] The six ball joint nodes of the connecting rod 5 of the moving platform 2 are divided into three groups in pairs, with one group in the center in front and the other two groups on the left and right behind; specifically, the three groups of ball joint nodes are distributed in an equilateral triangle.
[0019] It also includes a multi-moving linear motor, where the moving part of the multi-moving linear motor serves as the sliding part 4, and the body of the multi-moving linear motor serves as the linear guide part 3. Alternatively, a multi-head belt module or a multi-moving lead screw module can be used instead of the multi-moving linear motor, as well as other simple replacements of actuators, all of which are covered by the protection scope of this utility model.
[0020] The six-DOF parallel robot adopts a symmetrical structure design, and its kinematic diagram is shown below. Figure 2 As shown, static coordinate system Fixed on the robot's static platform, the moving coordinate system on the moving platform Using the tool coordinate system, two multi-moving linear motors each drive three planar motor movers. Ball joints connect the movers to the connecting rods, and the moving platform to the connecting rods. The hinge points of the ball joints on the moving platform are all located at... On a plane, the hinge point of the ball joint on two moving parts , lie in On a plane. The robot's structural parameters are shown in the table below. Figure 3 As shown.
[0021] Let the hinge points of the ball joints on the 6 moving parts be... , , , , , along The displacements in the directions are respectively , , , , , Let the hinge points of the ball joints on each moving part be relative to the static coordinate system. The coordinates on are , , , , , Let the hinge points of each ball joint on the moving platform be relative to the moving coordinate system. The coordinates on are , , , , , .
[0022] Moving coordinate system The attitude is in static coordinate system According to the Axis rotation Corner, around Axis rotation Corner, around Axis rotation Since the angles are transformed by their order, their rotation matrix can be set as follows: The hinge point of the ball joint on the moving platform relative to the static coordinate system can be obtained. The coordinates are , , , , , ,because Then we can list the robot's kinematic equations, which consist of six equations. , , , , , , , , , , All of these are constants related to robot mechanisms. , , , , , The hinge point of the ball joint on the 6 moving parts Displacement in direction, , , , , , The output of the moving platform can be obtained by solving the kinematic equations. , , , , , The expression, substitute into the expression , , , , , It can be obtained , , , , , The value of is obtained by knowing the position and orientation of the moving platform, and then calculating the displacement values of the six movers. By inputting the displacement values of the movers into the robot motion control system, the moving platform can be controlled to move to the corresponding position and orientation.
[0023] Let the desired motion range of the robot platform be as follows: Figure 4 As shown.
[0024] After structural optimization design, the conditional numbers of the robot's moving platform during motion are as follows: Figure 5 As shown, the moving platform is located near the center of the preset motion range. The number of conditions within the motion range is all within 20, and it has relatively consistent motion performance in the six degrees of freedom motion directions, achieving excellent performance indicators.
[0025] Example 2 In this embodiment, n equals 3, m equals 6, and the 6 sliding parts 4 are evenly distributed on the 3 straight guide parts 3.
[0026] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A six-degree-of-freedom parallel robot driven by a multi-moving linear module, characterized in that: It includes a static platform (1), a moving platform (2), a linear guide (3), and a sliding part (4); n parallel linear guides (3) are supported by the static platform (1), where n is an integer greater than 2, and m sliding parts (4) are evenly distributed on the n linear guides (3). Each linear guide (3) has at least 2 sliding parts (4). The m sliding parts (4) are connected to the moving platform (2) below through connecting rods (5). The sliding parts (4) and connecting rods (5) are connected by ball joints, and the moving platform (2) and connecting rods (5) are connected by ball joints. The m sliding parts (4) can translate along the linear guides (3) to adjust the position and tilt angle of the moving platform (2).
2. A six-degree-of-freedom parallel robot driven by a multi-acting linear module according to claim 1, characterized in that: n equals 2, m equals 6, and the 6 sliding parts (4) are evenly distributed on the 2 straight guide parts (3). The sliding parts (4) on the straight guide parts (3) are not evenly spaced.
3. A six-degree-of-freedom parallel robot driven by a multi-acting linear module according to claim 2, characterized in that: A six-degree-of-freedom parallel robot includes a first state and a second state; In the first state, the six-degree-of-freedom parallel robot is symmetrical about the mid-plane between the two straight guide parts (3); the plane where the two straight guide parts (3) are located is the first plane, and the six ball joint nodes connecting the moving platform (2) and the connecting rod (5) are located in the second plane, which is parallel to the first plane; In the second state, the six sliding parts (4) not all move in the same direction and at equal distances, causing the second plane to tilt relative to the first plane.
4. A six-degree-of-freedom parallel robot driven by a multi-acting linear module according to claim 3, characterized in that: The six ball joint nodes of the moving platform (2) connecting rod (5) are divided into three groups in pairs, with one group in the center in front and the other two groups on the left and right behind.
5. A six-degree-of-freedom parallel robot driven by a multi-actuator linear module according to any one of claims 1 to 4, characterized in that: It also includes a multi-moving linear motor, in which the moving part of the multi-moving linear motor is used as a sliding part (4), and the body of the multi-moving linear motor is used as a linear guide part (3).
6. A six-degree-of-freedom parallel robot driven by a multi-acting linear module according to claim 1, characterized in that: n equals 3, m equals 6, and the 6 sliding parts (4) are evenly distributed on the 3 straight guide parts (3).