Multi-link cross-parallel loading robot

Abstract

The present invention relates to a loading robot, and in particular to a multi-link cross-parallel loading robot. The loading robot comprises a first sliding portion, a second sliding portion and a third sliding portion which are respectively mounted to a first linear guide device, a second linear guide device and a third linear guide device. A first motion link mechanism and a second motion link mechanism are parallelogram mechanisms, and a third motion link mechanism is a single-link mechanism. A front end of the third motion link mechanism is connected in parallel to a motion execution end via a rotary kinematic pair, a rear end of the third motion link mechanism is connected to the sliding portions respectively via rotary kinematic pairs, and the third motion link mechanism passes through the second motion link mechanism. The position of the motion execution end is adjusted by adjusting the positions of the first sliding portion, the second sliding portion and the third sliding portion on the first linear guide device, the second linear guide device and the third linear guide device. A link structure of the parallel loading robot of the present invention facilitates a reduction in the overall weight of the robot; and the core structure adopts a parallel mechanism, which facilitates an improvement in the rigidity and motion flexibility of the robot.

Description

A multi-link cross-parallel loader robot TECHNICAL FIELD

[0001] The present application relates to a loader robot, in particular to a multi-link cross-parallel loader robot. BACKGROUND

[0002] The loader robot is an indispensable automated intelligent equipment in modern manufacturing industry, and is widely used in heavy load carrying, sorting, stacking and other fields in construction, petrochemical, food and other industries. Due to the special application occasion of the loader robot, it is required to have high motion flexibility, large working space, strong environmental adaptability and other performances, especially with the urgent needs of automatic high-efficiency loading of cement, food, chemical raw materials and other products, higher requirements are put forward for the load capacity and dynamic characteristics of the loader robot.

[0003] The carrying robots disclosed in patents CN113733055A, CN113733055A, CN108284428A, CN116922362A, EP3138670A1 and EP3272470B1 all adopt a serial structure, the self-weight of the robot is large, the stiffness and dynamic characteristics are low, and it is difficult to meet the high speed and high efficiency requirements of heavy load carrying occasions.

[0004] The carrying robots disclosed in patents CN212608257U, CN110815183A, CN110815184A, CN106826765A and CN106584426A adopt a parallel structure, but the driving part adopts a rotary driving joint, which is limited by the angle and length of the rotary driving joint. The working space of the robot is small, the load capacity is low, and it cannot meet the demand of large-scale heavy load loading application. SUMMARY

[0005] The technical problem to be solved by the present application is to provide a multi-link cross-parallel loader robot with large carrying capacity, large motion space and high load self-weight ratio.

[0006] The technical solution adopted by the present application is:

[0007] The multi-link cross-parallel loader robot of the present application is a cross-link parallel loader robot, which comprises an outer frame, a first linear guide device, a second linear guide device and a third linear guide device mounted on the outer frame, a first sliding part, a second sliding part, a third sliding part, a first motion linkage mechanism, a second motion linkage mechanism, a third motion linkage mechanism and a motion execution end, characterized in that the outer frame is provided with a through loading channel in the middle, and the first linear guide device, the second linear guide device and the third linear guide device are provided with linear guide rails.

[0008] The first linear guide device is installed on the upper side of the loading passage of the outer frame, and the second linear guide device and the third linear guide device are respectively installed on the left and right sides of the loading passage of the outer frame;

[0009] The first sliding part, the second sliding part and the third sliding part are respectively installed on the linear guide rails of the first linear guide device, the second linear guide device and the third linear guide device, and the first sliding part, the second sliding part and the third sliding part are respectively provided with linear driving mechanisms;

[0010] The linear driving mechanisms drive the first sliding part, the second sliding part and the third sliding part to move linearly along the linear guide rails of the first linear guide device, the second linear guide device and the third linear guide device respectively;

[0011] The front end connecting rod of the first motion connecting rod mechanism is connected with the motion execution end through a rotary motion pair a installed on the motion execution end, and the rear end connecting rod is connected with the first sliding part through a rotary motion pair d installed on the first sliding part;

[0012] The front end connecting rod of the second motion connecting rod mechanism is connected with the motion execution end through a rotary motion pair c installed on the motion execution end, and the rear end connecting rod is connected with the second sliding part through a rotary motion pair e installed on the second sliding part;

[0013] The front end T-shaped rod of the third motion connecting rod mechanism is connected with the motion execution end through a rotary motion pair b installed on the motion execution end, and the rear end T-shaped rod is connected with the third sliding part through a rotary motion pair f installed on the third sliding part; the second motion connecting rod mechanism is a parallelogram mechanism, the third motion connecting rod mechanism is a single connecting rod mechanism, the third motion connecting rod mechanism penetrates through the parallelogram mechanism of the second motion connecting rod mechanism, the front end is connected with the motion execution end, and the rear end is connected with the third sliding part;

[0014] The first motion connecting rod mechanism and the second motion connecting rod mechanism are the same in structure and comprise a rear end connecting rod, a front end connecting rod, an upper connecting rod a, a lower connecting rod b, a rotary motion pair g, a rotary motion pair h, a rotary motion pair i and a rotary motion pair j, the upper end of the rear end connecting rod is connected with the rear end of the long connecting rod a through the rotary motion pair g, the lower end of the rear end connecting rod is connected with the rear end of the long connecting rod b through the rotary motion pair j, the upper end of the front end connecting rod is connected with the front end of the long connecting rod a through the rotary motion pair h, and the lower end of the front end connecting rod is connected with the front end of the long connecting rod b through the rotary motion pair i;

[0015] The third motion connecting rod mechanism comprises a front end T-shaped rod, a rotary motion pair k, a long connecting rod, a rotary motion pair m and a rear end T-shaped rod, the front end T-shaped rod is connected with the front end of the long connecting rod through the rotary motion pair k, and the rear end T-shaped rod is connected with the rear end of the long connecting rod through the rotary motion pair m;

[0016] The front end T-shaped rod of the third motion linkage mechanism is connected with the motion execution end through a rotary motion pair b installed on the motion execution end, and the rear end T-shaped rod is connected with the third sliding part through a rotary motion pair f installed on the third sliding part.

[0017] According to the multi-linkage cross-parallel loading robot, the first motion linkage mechanism, the second motion linkage mechanism and the third motion linkage mechanism are connected in parallel with the motion execution end, and the position of the motion execution end is adjusted by adjusting the positions of the first sliding part, the second sliding part and the third sliding part in the first linear guide device, the second linear guide device and the third linear guide device.

[0018] According to the multi-linkage cross-parallel loading robot, the guide axes of the linear guide rails of the first linear guide device, the second linear guide device and the third linear guide device are parallel to each other.

[0019] According to the multi-linkage cross-parallel loading robot, the second motion linkage mechanism is a parallelogram mechanism, the third motion linkage mechanism is a single-linkage mechanism, the third motion linkage mechanism penetrates through the second motion linkage mechanism, the front end is connected with the motion execution end, and the rear end is connected with the third sliding part.

[0020] According to the multi-linkage cross-parallel loading robot, the bottom surface of the motion execution end is kept parallel to the upper side surface of the outer frame by the parallelogram mechanism of the first motion linkage mechanism, and the left and right side surfaces of the motion execution end are kept parallel to the left and right side surfaces of the outer frame by the parallelogram mechanism of the second motion linkage mechanism.

[0021] According to the multi-linkage cross-parallel loading robot, the first motion linkage mechanism and the second motion linkage mechanism are structurally identical, and comprise a rear end linkage, a front end linkage, an upper linkage a, a lower linkage b, a rotary motion pair g, a rotary motion pair h, a rotary motion pair i and a rotary motion pair j, the upper end of the rear end linkage is connected with the rear end of the long linkage a through the rotary motion pair g, the lower end of the rear end linkage is connected with the rear end of the long linkage b through the rotary motion pair j, the upper end of the front end linkage is connected with the front end of the long linkage a through the rotary motion pair h, and the lower end of the front end linkage is connected with the front end of the long linkage b through the rotary motion pair i.

[0022] The rear end linkage, the upper linkage a, the lower linkage b and the front end linkage constitute a parallelogram mechanism, and the rear end linkage and the front end linkage are always kept parallel to each other, and the upper linkage a and the lower linkage b are always kept parallel to each other.

[0023] According to the multi-link cross parallel loading robot, the third motion linkage mechanism comprises a front end T-shaped rod, a rotary motion pair k, a long linkage rod, a rotary motion pair m and a rear end T-shaped rod, the front end T-shaped rod is connected with the front end of the long linkage rod through the rotary motion pair k, and the rear end T-shaped rod is connected with the rear end of the long linkage rod through the rotary motion pair m.

[0024] According to the multi-link cross parallel loading robot, the first sliding part and the second sliding part are structurally same, and comprise a fixed seat a and a servo motor a, the servo motor a is installed on the fixed seat a, and the servo motor a drives the fixed seat a to move linearly along a guide device.

[0025] According to the multi-link cross parallel loading robot, the third sliding part comprises a fixed seat b and a servo motor b, the servo motor b is installed on the fixed seat b, and the servo motor b drives the fixed seat b to move linearly along a guide device.

[0026] According to the multi-link cross parallel loading robot, the servo motor a of the first sliding part and the second sliding part and the servo motor b of the third sliding part are replaced by a hydraulic or pneumatic driving structure.

[0027] The operation method of the multi-link cross parallel loading robot,

[0028] Meanwhile, the outer frame interface perpendicular to the guide directions of the first linear guide device, the second linear guide device and the third linear guide device is a reference surface,

[0029] Comprise the following operation steps,

[0030] The movement execution end moves forward and backward relative to the reference surface, the first sliding part, the second sliding part and the third sliding part move at the same speed along the corresponding guide devices, the movement execution end is driven by the first motion linkage mechanism, the second motion linkage mechanism and the third motion linkage mechanism to move linearly, that is, the outer frame moves forward and backward;

[0031] The movement execution end moves left and right along the reference surface,

[0032] The first sliding part is fixed relative to the position of the reference surface, the second sliding part moves forward along the second linear guide device, the upper linkage rod a and the lower linkage rod b of the second motion linkage mechanism swing back with a radius around the rotary motion pair g and the rotary motion pair j respectively, the third sliding part moves backward along the third linear guide device or the movement speed of the third sliding part along the third linear guide device is less than the movement speed of the second sliding part along the second linear guide device, the third motion linkage mechanism swings forward with a radius around the rotary motion pair f, and at this time, the movement execution end moves to the left side of the reference surface;

[0033] The third sliding part moves forward along the third linear guide device, the third movement linkage mechanism swings back with a radius around the rotary movement pair f, the second sliding part moves backward along the second linear guide device or the movement speed of the second sliding part along the second linear guide device is less than the movement speed of the third sliding part along the third linear guide device, and the upper link a and the lower link b of the second movement linkage mechanism swing forward with a radius around the rotary movement pair g and the rotary movement pair j respectively; at this time, the movement execution end moves to the right of the reference plane;

[0034] The movement execution end moves up and down on the reference plane,

[0035] The first sliding part moves forward along the first linear guide device, and the upper link a and the lower link b of the first movement linkage mechanism swing back around the rotary movement pair g and the rotary movement pair j respectively;

[0036] The second sliding part and the third sliding part are stationary relative to the plane or have a movement speed less than the movement speed of the first sliding part along the first linear guide device, the upper link a and the lower link b of the second sliding part swing downward around the rotary movement pair g and the rotary movement pair j respectively, the third movement linkage mechanism swings downward around the rotary movement pair f, and the movement execution end moves downward in the plane at this time;

[0037] The first sliding part moves backward along the first linear guide device or has a movement speed less than the movement speed of the second sliding part and the third sliding part along the second linear guide device and the third linear guide device respectively, the upper link a and the lower link b of the first movement linkage mechanism swing upward around the rotary movement pair g and the rotary movement pair j respectively, the third movement linkage mechanism swings upward around the rotary movement pair f, and the movement execution end moves upward in the plane at this time;

[0038] The above steps and synchronous or asynchronous movement drive the movement execution end to move in the outer frame.

[0039] The multi-link cross-parallel loader robot has the following advantages and positive effects:

[0040] 1. The first movement linkage mechanism, the second movement linkage mechanism, and the third movement linkage mechanism are connected in parallel with the movement execution end, which improves the load-carrying capacity and dynamic characteristics of the loader robot compared with patents CN113733055A, CN113733055A, CN108284428A, CN116922362A, EP3138670A1, and EP3272470B1.

[0041] 2. By adjusting the positions of the first sliding part, the second sliding part and the third sliding part in the first linear guide device, the second linear guide device and the third linear guide device, the position of the motion execution end is adjusted, compared with patents CN212608257U, CN110815183A, CN110815184A, CN106826765A and CN106584426A, the working space and the carrying capacity of the loading robot are greatly improved.

[0042] 3. The first motion linkage mechanism, the second motion linkage mechanism and the third motion linkage mechanism all adopt linkage mechanisms, which is beneficial to reduce the self-weight of the robot, and can make the side surface of the motion execution end always parallel to the side surface of the outer frame. BRIEF DESCRIPTION OF DRAWINGS

[0043] Fig. 1 is a schematic diagram of the overall structure of the present application;

[0044] Fig. 2 is a rear view of Fig. 1;

[0045] Fig. 3 is a schematic diagram of the installation of the multi-linkage crossed parallel loading robot of the present application;

[0046] Fig. 4 is a schematic diagram of the installation of the multi-linkage crossed parallel mechanism in Fig. 3;

[0047] Fig. 5 is a schematic diagram of the structure of the parallelogram mechanism of the first motion linkage mechanism and the second motion linkage mechanism of the present application;

[0048] Fig. 6 is a schematic diagram of the structure of the third motion linkage mechanism of the present application.

[0049] In the drawings: 1: outer frame, 2: first linear guide device, 3: second linear guide device, 4: third linear guide device, 5: first sliding part, 6: second sliding part, 7: third sliding part, 8: first motion linkage mechanism, 9: second motion linkage mechanism, 10: third motion linkage mechanism, 11: motion execution end, 12: rotary motion pair d, 13: rotary motion pair e, 14: rotary motion pair f, 15: rotary motion pair a, 16: rotary motion pair b, 17: rotary motion pair c, 18: fixed seat a, 19: servo motor a, 20: rear end link, 21: rotary motion pair g, 22: upper link a, 23: rotary motion pair h, 24: front end link, 25: rotary motion pair i, 26: lower link b, 27: rotary motion pair j, 28: front end T-shaped rod, 29: rotary motion pair k, 30: long link, 31: rotary motion pair m, 32: rear end T-shaped rod, 33: driving fixed seat b, 34: servo motor b. DETAILED DESCRIPTION

[0050] A multi-linkage crossed parallel loading robot of the present application will be described in detail below in conjunction with the embodiments and the drawings.

[0051] As shown in FIG. 1, FIG. 2, FIG. 3, a multi-link cross-parallel loader robot of the present application comprises an outer frame 1, a first linear guide device 2, a second linear guide device 3 and a third linear guide device 4 installed on the outer frame 1, a first sliding part 5, a second sliding part 6, a third sliding part 7, a first motion linkage 8, a second motion linkage 9, a third motion linkage 10 and a motion execution end 11. The outer frame has a through loading channel in the middle, and the carrier to be loaded drives into the loading channel in the outer frame for loading operation.

[0052] The first linear guide device 2, the second linear guide device 3 and the third linear guide device 4 of the present application are provided with linear guide rails. In the device, the first linear guide device 2 is installed on the upper side of the outer frame 1, and the second linear guide device 3 and the third linear guide device 4 are respectively installed on the left and right sides of the outer frame 1.

[0053] The first sliding part 5, the second sliding part 6 and the third sliding part 7 are respectively installed on the first linear guide device 2, the second linear guide device 3 and the third linear guide device 4.

[0054] The first sliding part 5, the second sliding part 6 and the third sliding part 7 respectively move along the first linear guide device 2, the second linear guide device 3 and the third linear guide device 4.

[0055] The linear drive mechanism drives the first sliding part 5, the second sliding part 6 and the third sliding part 7 to move linearly along the linear guide rails of the first linear guide device 2, the second linear guide device 3 and the third linear guide device 4 respectively.

[0056] The guide axes of the first linear guide device 2, the second linear guide device 3 and the third linear guide device 4 are parallel to each other.

[0057] The first motion linkage 8, the second motion linkage 9 and the third motion linkage 10 are connected in parallel with the motion execution end 11, and the position of the motion execution end 11 is adjusted by adjusting the positions of the first sliding part 5, the second sliding part 6 and the third sliding part 7 in the first linear guide device 2, the second linear guide device 3 and the third linear guide device 4.

[0058] The bottom surface of the motion execution end 11 is kept parallel to the upper side of the outer frame 1 by the parallelogram mechanism of the first motion linkage 8, and the left and right sides of the motion execution end 11 are kept parallel to the left and right sides of the outer frame 1 by the parallelogram mechanism of the second motion linkage 9.

[0059] Specifically, the front end connecting rod of the first motion linkage mechanism 8 is connected with the motion execution end 11 through a rotary motion pair a15 installed on the motion execution end 11, and the rear end connecting rod is connected with the first sliding part 5 through a rotary motion pair d12 installed on the first sliding part 5.

[0060] The front end connecting rod of the second motion linkage mechanism 9 is connected with the motion execution end 11 through a rotary motion pair c17 installed on the motion execution end 11, and the rear end connecting rod is connected with the second sliding part 6 through a rotary motion pair e13 installed on the second sliding part 6; the front end T-shaped rod of the third motion linkage mechanism 10 is connected with the motion execution end 11 through a rotary motion pair b16 installed on the motion execution end 11, and the rear end T-shaped rod is connected with the third sliding part 7 through a rotary motion pair f14 installed on the third sliding part 7.

[0061] The second motion linkage mechanism 9 is a parallelogram mechanism, and the third motion linkage mechanism 10 is a single connecting rod mechanism. The third motion linkage mechanism 10 penetrates through the second motion linkage mechanism 9, with the front end connected with the motion execution end 11 and the rear end connected with the third sliding part 7.

[0062] As shown in FIGS. 4, 5 and 6, the first motion linkage mechanism 8 and the second motion linkage mechanism 9 have the same structure, which includes a rear end connecting rod 20, a front end connecting rod 24, an upper connecting rod a22, a lower connecting rod b26, a rotary motion pair g21, a rotary motion pair h23, a rotary motion pair i25 and a rotary motion pair j27. The upper end of the rear end connecting rod 20 is connected with the rear end of the long connecting rod a22 through the rotary motion pair g21, the lower end of the rear end connecting rod 20 is connected with the rear end of the long connecting rod b26 through the rotary motion pair j27, the upper end of the front end connecting rod 24 is connected with the front end of the long connecting rod a22 through the rotary motion pair h23, and the lower end of the front end connecting rod 24 is connected with the front end of the long connecting rod b26 through the rotary motion pair i25.

[0063] The rear end connecting rod 20, the upper connecting rod a22, the lower connecting rod b26 and the front end connecting rod 24 constitute a parallelogram mechanism, which always keeps the rear end connecting rod 20 and the front end connecting rod 24 parallel to each other, and the upper connecting rod a22 and the lower connecting rod b26 parallel to each other. The first motion linkage mechanism 8 and the second motion linkage mechanism 9 both adopt the parallelogram mechanism, so that the upper side, the left side and the right side of the motion execution end always keep parallel to the upper side, the left side and the right side of the outer frame of the outer frame.

[0064] The front end connecting rod of the first motion linkage mechanism 8 and the second motion linkage mechanism 9 is coaxially arranged with the rotary motion pair a15, which can be the same structure or an inner-outer nested structure. The rotary motion pair a15 is a cylinder, and the front end connecting rod is inserted into the cylinder structure of the rotary motion pair a15. The rear end connecting rod is also arranged with the rotary motion pair d12.

[0065] The first sliding part, the second sliding part and the motion execution end are respectively provided with shaft hole structures, and the rotary motion pair a15 and the rotary motion pair d12 are inserted into the shaft hole structures.

[0066] The first motion linkage mechanism 8, the second motion linkage mechanism 9 and the third motion linkage mechanism 10 are all linkage structures, which are beneficial to reduce the automation of the robot, improve the dynamic characteristics of the whole machine and reduce the manufacturing cost.

[0067] The third motion linkage mechanism 10 comprises a front end T-shaped rod 28, a rotary motion pair k29, a long linkage rod 30, a rotary motion pair m31 and a rear end T-shaped rod 32. The front end T-shaped rod 28 is connected with the front end of the long linkage rod 30 through the rotary motion pair k29, and the rear end T-shaped rod 32 is connected with the rear end of the long linkage rod 30 through the rotary motion pair m31.

[0068] The transverse rod part of the front end T-shaped rod 28 of the third motion linkage mechanism 10 is of the same structure as the rotary motion pair b16, and the transverse rod part of the rear end T-shaped rod 32 is of the same structure as the rotary motion pair f14. Two coaxial shaft hole structures are arranged on the third sliding part and the motion execution end, and the two ends of the front end T-shaped rod 28 and the rear end T-shaped rod 32 are respectively embedded into the two shaft hole structures.

[0069] The first sliding part 5 and the second sliding part 6 are of the same structure and comprise a fixed seat a18 and a linear driving mechanism. A servo motor of the linear driving mechanism, a gear and a rack are arranged. The servo motor a19 is installed on the fixed seat a18. The rack is installed on one side of a linear guide rail of the first linear guide device 2 and the second linear guide device 3. The gear is installed on an output shaft of the servo motor. The servo motor a19 drives the fixed seat a18 to move linearly along the guide device through the gear and the rack.

[0070] The third sliding part 7 comprises a fixed seat b33 and a linear driving mechanism. A gear is arranged on an output shaft of a servo motor b34 of the linear driving mechanism. The gear is matched with a rack. The rack is arranged on one side of a linear guide rail of the third linear guide device 4.

[0071] The servo motor b34 is fixed on the fixed seat b33. The gear is engaged with the rack. The servo motor b34 drives the fixed seat b33 to move linearly along the guide device. The servo motor a19 of the first sliding part 5 and the second sliding part 6 and the servo motor b34 of the third sliding part 7 can also be replaced by a hydraulic or pneumatic driving structure to drive the gear and the rack to synchronously operate. The synchronous traditional mechanism of the rack and the gear can also be replaced by a screw transmission pair mechanism.

[0072] The working process of the device is described as follows:

[0073] The movement of the movement execution end 11 is described with reference to the outer frame interface perpendicular to the guiding directions of the first linear guide device 2, the second linear guide device 3 and the third linear guide device 4 as the reference plane,

[0074] comprising the following operation steps,

[0075] 1) The movement execution end 11 moves forward and backward relative to the reference plane, the first sliding part 5, the second sliding part 6 and the third sliding part 7 move at the same speed along the corresponding guide device, the first movement linkage mechanism 8, the second movement linkage mechanism 9 and the third movement linkage mechanism 10 drive the movement execution end 11 to move linearly, i.e. the outer frame 1 moves forward and backward;

[0076] 2) The movement execution end 11 moves left and right along the reference plane,

[0077] The first sliding part 5 does not move relative to the reference plane, the second sliding part 6 moves forward along the second linear guide device 3, the upper link a22 and the lower link b26 of the second movement linkage mechanism respectively swing back with a radius around the rotary movement pair g21 and the rotary movement pair j27; the third sliding part 7 moves backward along the third linear guide device 4 or the movement speed of the third sliding part 7 along the third linear guide device 4 is less than that of the second sliding part 6 along the second linear guide device 3, the third movement linkage mechanism 10 swings forward with a radius around the rotary movement pair f14, at this time the movement execution end 11 moves to the left side of the reference plane;

[0078] The third sliding part 7 moves forward along the third linear guide device 4, the third movement linkage mechanism 10 swings backward with a radius around the rotary movement pair f14, the second sliding part 6 moves backward along the second linear guide device 2 or the movement speed of the second sliding part 6 along the second linear guide device 2 is less than that of the third sliding part 7 along the third linear guide device 4, the upper link a22 and the lower link b26 of the second movement linkage mechanism respectively swing forward with a radius around the rotary movement pair g21 and the rotary movement pair j27; at this time the movement execution end 11 moves to the right side of the reference plane;

[0079] 3) The movement execution end moves up and down along the reference plane,

[0080] The first sliding part 5 moves forward along the first linear guide device 2, the upper link a22 and the lower link b26 of the first movement linkage mechanism 8 respectively swing backward around the rotary movement pair g21 and the rotary movement pair j27;

[0081] The second sliding part 6 and the third sliding part 7 are not moved or have a movement speed less than the movement speed of the first sliding part 5 along the first linear guide device 2, the upper connecting rod a22 and the lower connecting rod b26 of the second motion linkage 8 swing downward around the rotary movement pair g21 and the rotary movement pair j27 respectively, the third motion linkage 10 swings downward around the rotary movement pair f14, and the movement execution end moves downward in the plane at this time;

[0082] The first sliding part 5 moves backward along the first linear guide device 2 or has a movement speed less than the movement speed of the second sliding part 6 and the third sliding part 7 along the second linear guide device 3 and the third linear guide device 4 respectively, the upper connecting rod a22 and the lower connecting rod b26 of the first motion linkage 8 swing upward around the rotary movement pair g21 and the rotary movement pair j27 respectively, the third motion linkage 10 swings upward around the rotary movement pair f14, and the movement execution end moves upward in the plane at this time;

[0083] The above steps 1, 2 and 3 can be moved synchronously or asynchronously to drive the movement execution end 11 to move in the loading channel of the outer frame 1.

[0084] With the change of the positions of the first sliding part 5, the second sliding part 6 and the third sliding part 7 and the change of the angles of the first motion linkage 8, the second motion linkage 9 and the third motion linkage 10, the movement execution end 11 rotates around the front end connecting rod 24 of the first motion linkage 8 and the second motion linkage 9 and rotates around the front end T-shaped rod 28 of the third motion linkage 10, so that the movement execution end 11 moves up and down, left and right, and forward and backward.

[0085] Although the preferred embodiments of the present application are described above in combination with the drawings, the present application is not limited to the specific embodiments described above, and the specific embodiments described above are only illustrative and not restrictive, and those skilled in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims, which all belong to the protection scope of the present application.

Claims

1. A multi-link cross-parallel loading robot, comprising an outer frame (1), a first linear guide device (2), a second linear guide device (3) and a third linear guide device (4) mounted on the outer frame (1), and a first sliding part (5), a second sliding part (6), a third sliding part (7), a first motion linkage (8), a second motion linkage (9), a third motion linkage (10) and a motion execution end (11), characterized in that, The outer frame is provided with a loading channel in the middle, and the first linear guide device (2), the second linear guide device (3) and the third linear guide device (4) are provided with linear guide rails; The first linear guide device (2) is installed on the upper side of the loading channel of the outer frame (1), and the second linear guide device (3) and the third linear guide device (4) are respectively installed on the left and right sides of the loading channel of the outer frame (1); the first sliding part (5), the second sliding part (6) and the third sliding part (7) are respectively installed on the linear guide rails of the first linear guide device (2), the second linear guide device (3) and the third linear guide device (4), and the first sliding part (5), the second sliding part (6) and the third sliding part (7) are respectively provided with linear driving mechanisms; The linear driving mechanisms drive the first sliding part (5), the second sliding part (6) and the third sliding part (7) to move linearly along the linear guide rails of the first linear guide device (2), the second linear guide device (3) and the third linear guide device (4) respectively; The front end connecting rod of the first motion linkage mechanism (8) is connected with the motion execution end (11) through a rotary motion pair a (15) installed on the motion execution end (11), and the rear end connecting rod is connected with the first sliding part (5) through a rotary motion pair d (12) installed on the first sliding part (5); The front end connecting rod of the second motion linkage mechanism (9) is connected with the motion execution end (11) through a rotary motion pair c (17) installed on the motion execution end (11), and the rear end connecting rod is connected with the second sliding part (6) through a rotary motion pair e (13) installed on the second sliding part (6); The second motion linkage mechanism (9) is a parallelogram mechanism, the third motion linkage mechanism (10) is a single connecting rod mechanism, the third motion linkage mechanism (10) penetrates through the middle of the parallelogram mechanism of the second motion linkage mechanism (9), the front end is connected with the motion execution end (11), and the rear end is connected with the third sliding part (7); The first motion linkage mechanism (8) and the second motion linkage mechanism (9) are the same in structure and comprise a rear end connecting rod (20), a front end connecting rod (24), an upper connecting rod a (22), a lower connecting rod b (26), a rotary motion pair g (21), a rotary motion pair h (23), a rotary motion pair i (25) and a rotary motion pair j (27); the upper end of the rear end connecting rod (20) is connected with the rear end of the long connecting rod a (22) through the rotary motion pair g (21), the lower end of the rear end connecting rod (20) is connected with the rear end of the long connecting rod b (26) through the rotary motion pair j (27), the upper end of the front end connecting rod (24) is connected with the front end of the long connecting rod a (22) through the rotary motion pair h (23), and the lower end of the front end connecting rod (24) is connected with the front end of the long connecting rod b (26) through the rotary motion pair i (25); The third motion linkage mechanism (10) comprises a front end T-shaped rod (28), a rotary motion pair k (29), a long linkage rod (30), a rotary motion pair m (31), and a rear end T-shaped rod (32). The front end T-shaped rod (28) is connected with the front end of the long linkage rod (30) through the rotary motion pair k (29). The rear end T-shaped rod (32) is connected with the rear end of the long linkage rod (30) through the rotary motion pair m (31). The front end T-shaped rod of the third motion linkage mechanism (10) is connected with the motion execution end (11) through the rotary motion pair b (16) installed on the motion execution end (11). The rear end T-shaped rod is connected with the third sliding part (7) through the rotary motion pair f (14) installed on the third sliding part (7).

2. The multi-link cross-parallel loader robot according to claim 1, wherein, The first motion linkage mechanism (8), the second motion linkage mechanism (9), and the third motion linkage mechanism (10) are connected in parallel with the motion execution end (11). The position of the motion execution end (11) is adjusted by adjusting the positions of the first sliding part (5), the second sliding part (6), and the third sliding part (7) in the first linear guide device (2), the second linear guide device (3), and the third linear guide device (4).

3. The multi-link, cross-parallel loader robot of claim 1, wherein, The guide axes of the linear guide rails of the first linear guide device (2), the second linear guide device (3), and the third linear guide device (4) are parallel to each other.

4. The multi-link, cross-parallel loader robot of claim 3, wherein, The bottom surface of the motion execution end (11) is kept parallel to the upper side of the outer frame (1) through the parallelogram mechanism of the first motion linkage mechanism (8). The left and right side surfaces of the motion execution end (11) are kept parallel to the left and right side surfaces of the outer frame (1) through the parallelogram mechanism of the second motion linkage mechanism (9).

5. The multi-linkage cross-parallel loader robot according to claim 1, wherein The rear end linkage rod (20), the upper linkage rod a (22), the lower linkage rod b (26), and the front end linkage rod (24) constitute a parallelogram mechanism, which always keeps the rear end linkage rod (20) and the front end linkage rod (24) parallel to each other, and keeps the upper linkage rod a (22) and the lower linkage rod b (26) parallel to each other.

6. The multi-link, crossed-parallel loader robot of claim 1, wherein, The third motion linkage mechanism (10) comprises a front end T-shaped rod (28), a rotary motion pair k (29), a long linkage rod (30), a rotary motion pair m (31), and a rear end T-shaped rod (32). The front end T-shaped rod (28) is connected with the front end of the long linkage rod (30) through the rotary motion pair k (29). The rear end T-shaped rod (32) is connected with the rear end of the long linkage rod (30) through the rotary motion pair m (31).

7. The multi-link, crossed-parallel loader robot of claim 1, wherein, The first sliding part (5) and the second sliding part (6) are the same in structure and comprise a fixed seat a (18) and a servo motor a (19). The servo motor a (19) is installed on the fixed seat a (18). The servo motor a (19) drives the fixed seat a (18) to move linearly along the guide device.

8. The multi-link, crossed-parallel loader robot of claim 1, wherein, The third sliding part (7) comprises a fixed seat b (33) and a servo motor b (34). The servo motor b (34) is installed on the fixed seat b (33). The servo motor b (34) drives the fixed seat b (33) to move linearly along the guide device.

9. The multi-link, crossed-parallel loader robot of claim 1, wherein, The servo motor a (19) of the first sliding part (5) and the second sliding part (6), and the servo motor b (34) of the third sliding part (7) are replaced by a hydraulic or pneumatic driving structure.

10. A method of operating a multi-link, crossed-parallel robot as defined in claim 4, characterized by, The outer frame interface perpendicular to the guiding directions of the first linear guide (2), the second linear guide (3) and the third linear guide (4) is taken as a reference plane, The operation steps include: 1) The moving execution end (11) moves forward and backward relative to the reference plane, the first sliding part (5), the second sliding part (6) and the third sliding part (7) move at the same speed along the corresponding guide, the first moving linkage mechanism (8), the second moving linkage mechanism (9) and the third moving linkage mechanism (10) drive the moving execution end (11) to move linearly, i.e. the outer frame (1) moves forward and backward; 2) The moving execution end (11) moves left and right along the reference plane, The first sliding part (5) is stationary relative to the reference plane, the second sliding part (6) moves forward along the second linear guide (3), the upper link a (22) and the lower link b (26) of the second moving linkage mechanism swing backward with a radius about the rotary motion pair g (21) and the rotary motion pair j (27) respectively; the third sliding part (7) moves backward along the third linear guide (4) or the moving speed of the third sliding part (7) along the third linear guide (4) is less than that of the second sliding part (6) along the second linear guide (3), the third moving linkage mechanism (10) swings forward with a radius about the rotary motion pair f (14), at this time the moving execution end (11) moves to the left side of the reference plane; The third sliding part (7) moves forward along the third linear guide (4), the third moving linkage mechanism (10) swings backward with a radius about the rotary motion pair f (14), the second sliding part (6) moves backward along the second linear guide (2) or the moving speed of the second sliding part (6) along the second linear guide (2) is less than that of the third sliding part (7) along the third linear guide (4), the upper link a (22) and the lower link b (26) of the second moving linkage mechanism swing forward with a radius about the rotary motion pair g (21) and the rotary motion pair j (27) respectively; at this time the moving execution end (11) moves to the right side of the reference plane; 3) The moving execution end moves up and down on the reference plane, The first sliding part (5) moves forward along the first linear guide (2), the upper link a (22) and the lower link b (26) of the first moving linkage mechanism (8) swing backward about the rotary motion pair g (21) and the rotary motion pair j (27) respectively; The second sliding part (6) and the third sliding part (7) are stationary relative to the plane or move at a speed less than that of the first sliding part (5) along the first linear guide (2), the upper link a (22) and the lower link b (26) of the second sliding part (6) swing downward about the rotary motion pair g (21) and the rotary motion pair j (27) respectively, the third moving linkage mechanism (10) swings downward about the rotary motion pair f (14), at this time the moving execution end moves downward in the plane; The first sliding part (5) moves backward along the first linear guide (2) or moves at a speed less than the speed of the second sliding part (6) and the third sliding part (7) along the second linear guide (3) and the third linear guide (4) respectively, the upper link a (22) and the lower link b (26) of the first movement linkage (8) swing upward around the rotary movement pair g (21) and the rotary movement pair j (27) respectively; the third movement linkage (10) swings upward around the rotary movement pair f (14), and the movement execution end moves upward in the plane at this time; 4) The steps 1), 2) and 3) above are moved synchronously or asynchronously, driving the movement execution end (11) to move in the outer frame (1).

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