CN107139162B - Parallel sorting robot with double-moving platform structure - Google Patents

Abstract

The invention discloses a parallel sorting robot with a double-moving platform structure. The parallel sorting robot includes: the robot includes a fixed platform, a moving platform part and four branch chains connecting the fixed platform and the moving platform part. Four driving devices are installed on the fixed platform, and the four drivers are arranged symmetrically on the circumference. Three degrees of freedom of movement and one degree of freedom of rotation of the end effector are realized. The parallel sorting robot with a double-moving platform structure according to the present invention has the characteristics of compact structure, flexible movement, simple control, good rigidity and stability, and the like.

Description

Parallel sorting robot with double-moving platform structure

technical field

The invention relates to the field of mechanism design, in particular to a parallel sorting robot with a double-moving platform structure.

Background technique

Early industrial robots used for packaging, sorting, assembling and dismantling tasks on light production lines were realized by serial mechanisms. The tandem mechanism is connected sequentially by the kinematic pairs. It is an open-loop structure with a large working space and high flexibility. The dynamic performance is not good. The parallel mechanism is a closed-loop structure, and its moving platform components are connected with the fixed platform through at least two independent kinematic chains. Compared with the series mechanism, the parallel mechanism has the advantages of high rigidity, high precision, good dynamic performance, and compact structure.

Based on the advantages of the parallel mechanism, CLAVEL proposed a Delta parallel mechanism (US4976582) consisting of three symmetrical branch chains that can realize three-dimensional translation, which has high-speed motion characteristics. On the basis of this configuration, ABB developed the "Flexpicker" parallel mechanism Robots are also used in food packaging production lines to replace manual fast sorting operations of food, etc.; in order to further increase the flexibility and efficiency of picking actions, PIERROT et al. proposed a H4 with four branch chains and double-moving platform components that can realize SCARA motion. Parallel mechanism (US20090019960 and EP1084802); then Adept company successfully commercialized it, and the typical representative is "Adept Quattrro" parallel robot.

For the advantages and disadvantages of the above part of the design, some literatures have commented, and the shortcomings are summarized as follows:

Patent CN202592386 pointed out that the Delta mechanism in patent US4976582 only has three degrees of freedom of spatial translation, and cannot realize the rotation of the pick-up angle; The size of the platform part is large and not compact enough, and two adjacent branch chains drive one part of the moving platform part, the force transmission effect is not good, which is not conducive to improving the efficiency of the mechanism; patents CN101863024 and CN102161201 pointed out that patents US20090019960 and EP1084802 middle moving platform parts The size is large, and the magnification mechanism set on it increases the weight of the moving platform components; patent CN102152306 points out that the driven parts of the moving platform components in the patents US20090019960 and EP1084802 are equivalent to a set of opposite sides of a parallelogram, the structure is not compact, and the movement is not Flexible, uneven force, which is not conducive to improving the efficiency of the mechanism; patent CN102229141 pointed out that there are only two parts driven by the moving platform parts in patents US20090019960 and EP1084802, and these two parts are equivalent to a set of opposite sides of a parallelogram. This driving method Inflexible and uneven stress conditions are not conducive to the smooth operation of the mechanism.

Contents of the invention

The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the present invention proposes a parallel sorting robot with a double-moving platform structure, which has the advantages of excellent performance, compact structure and flexible movement.

According to the parallel sorting robot with a double-moving platform structure of the present invention, the parallel sorting robot includes a fixed platform, four branch chains, four driving devices and moving platform components, and the four branch chains are arranged along the fixed platform. The four drive devices are arranged on the fixed platform and connected to the upper ends of the four branch chains one by one, so as to drive the four branch chains to pivot, and the moving platform components It is arranged below the fixed platform, and the moving platform components include: an upper moving platform, which is pivotably connected to the lower ends of two branch chains arranged alternately among the four branch chains; A moving platform, the lower moving platform is arranged below the upper moving platform and is pivotably connected to the lower ends of the other two alternately arranged branch chains of the four branch chains; at least one sliding guide rail, the sliding The guide rail is arranged on one of the upper moving platform and the lower moving platform and extends in the vertical direction, and the other of the upper moving platform and the lower moving platform is slidably connected with the sliding guide rail; At least one motion conversion mechanism, the motion conversion mechanism connects the upper moving platform and the lower moving platform, and the motion conversion mechanism includes a connecting rod, a rack and a gear, one end of the connecting rod is connected to the upper moving platform The platform is pivotally connected, the rack is slidably arranged on the lower moving platform, the other end of the connecting rod is pivotally connected with the rack, and the gear is rotatably arranged on the lower moving platform. An end effector is provided on the platform and meshed with the rack. The end effector is arranged under the lower moving platform and is connected with the gear through an output shaft passing through the lower moving platform.

According to the parallel sorting robot with double-moving platform structure of the present invention, the pivoting of the four branch chains can be controlled by controlling four driving devices, so as to realize the movement of the moving platform components along the X, Y and Z directions, and the upper moving platform and the relative movement of the lower moving platform along the Z axis, wherein the relative movement of the upper moving platform and the lower moving platform along the Z axis can be converted into the rotation of the end effector around the Z axis through the motion conversion mechanism, so that the end effector has three movements degrees of freedom and one rotational degree of freedom to achieve four-degree-of-freedom grasping and other operations. For example, one hundred standard grasping actions can be completed per minute. It has the advantages of compact structure, flexible movement, simple control, good rigidity and stability, High performance and other characteristics, there is a broad prospect of scientific research and application.

In some embodiments, the lower moving platform is provided with a slide rail extending parallel to the tangential direction of the gear, the rack is provided with a slide block, and the slide block is slidably arranged on the slide rail , and the other end of the connecting rod is pivotably connected with the slider.

In some embodiments, an upwardly protruding guide boss is provided on the lower moving platform, a guide groove is formed on the guide boss, a slider is provided on the rack, at least a part of the slider extends The other end of the connecting rod is pivotably connected with the sliding block.

In some embodiments, the racks include two that are rotationally symmetrical about the central axis of the gear, the connecting rods include two that are rotationally symmetrical about the central axis of the gear, and the connecting rod and The racks are in one-to-one correspondence.

In some embodiments, the sliding guide rail is formed as a column extending in the vertical direction, and the other of the upper moving platform and the lower moving platform is provided with a sliding hole, and a sleeve is arranged in the sliding hole , the sliding guide rail is slidably passed through the bushing.

Further, the free end of the sliding guide rail is covered with an end cap, and the end cap is detachably connected to the sliding guide rail.

In some embodiments, the branch chain includes: two first rod bodies, the two first rod bodies are arranged up and down and parallel, the upper first rod body is connected with the driving device, and the lower first rod body is connected to the driving device. The first rod body is connected with the moving platform part; two second rod bodies are arranged in parallel and connected with the two first rod bodies to form a parallelogram frame, and the length of the second rod body is longer than that of the first rod body. The length of the rod body, the two ends of each first rod body are spherically matched with the two second rod bodies respectively; the torsional elastic member is arranged parallel to the first rod body and adjacent to the second rod body A rod body is provided, the torsional elastic member is in an elongated state and its two ends are pivotally connected to the two second rods, the torsion-resistant elastic member includes at least one and at least one end of the branch chain is provided with The torsion elastic member.

In some embodiments, the driving device includes: a driver, the driver is arranged on the fixed platform; a driving arm, the driving arm extends generally along the radial direction of the fixed platform, and the inner end of the driving arm It is connected with the driver so as to be pivotable relative to the fixed platform driven by the driver, and the outer end of the driving arm is pivotally connected with the upper end of the corresponding branch chain.

In some embodiments, the fixed platform includes: a platform main body; four installation plates, the four installation plates are provided on the outer periphery of the platform main body at intervals along the circumference of the fixed platform, and each of the The mounting plate extends away from the platform main body, the driver and the driving arm are respectively arranged at both ends of the mounting plate along the circumferential direction of the platform main body, and the output shaft of the driver passes through the The mounting plate is connected with the driving arm.

Additional aspects and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Description of drawings

1 is a schematic diagram of a parallel sorting robot with a double-action platform structure according to an embodiment of the present invention;

Fig. 2 is a schematic diagram of the moving platform parts of the parallel sorting robot shown in Fig. 1;

Fig. 3 is a schematic diagram of another angle of the moving platform components shown in Fig. 2;

Fig. 4 is a schematic structural view of the branched chain shown in Fig. 1;

FIG. 5 is an enlarged view of the point A circled in FIG. 4 .

Reference signs:

Parallel sorting robot 100,

Fixed platform 1, platform main body 11, mounting plate 12,

Drive device 2, drive 21, drive arm 22,

Branch 4,

Moving platform part 5, upper moving platform 51,

Lower moving platform 52, guide boss 521, guide groove 522,

end effector 53, slide rail 54, end cap 541,

Motion conversion mechanism 55, connecting rod 551, rack 552, slide block 5521, gear 553,

Output shaft 56, axle sleeve 57.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

The following describes a parallel sorting robot 100 with a double-moving platform structure according to an embodiment of the present invention with reference to FIGS. 1-5 .

As shown in FIG. 1 , a parallel sorting robot 100 with a double-moving platform structure according to an embodiment of the present invention includes: a fixed platform 1 , four driving devices 2 , four branch chains 4 and a moving platform component 5 .

Specifically, the four branch chains 4 are spaced apart along the circumference of the fixed platform 1 , and the four driving devices 2 are arranged on the fixed platform 1 and drive the four branch chains 4 to pivot one by one. That is to say, the four driving devices 2 correspond to the four branch chains 4 one by one, and each driving device 2 can drive the corresponding branch chain 4 to pivot relative to the fixed platform 1 .

The moving platform component 5 is arranged below the fixed platform 1 , and the moving platform component 5 may include: an upper moving platform 51 , a lower moving platform 52 , at least one sliding guide rail 54 , at least one motion conversion mechanism 55 and an end effector 53 .

The upper moving platform 51 is located below the fixed platform 1 , and the upper moving platform 51 is pivotably connected to the lower ends of two of the four branch chains 4 arranged alternately. The lower moving platform 52 is disposed below the upper moving platform 51 , and the lower moving platform 52 is pivotably connected to the lower ends of the other two branch chains 4 arranged alternately among the four branch chains 4 .

For the convenience of description, as shown in Figure 1, the four branch chains 4 distributed sequentially along the circumference of the fixed platform 1 are respectively the first branch chain, the second branch chain, the third branch chain and the fourth branch chain, and the moving platform 51 may be pivotably connected with the lower ends of the first branch chain and the third branch chain, and the lower moving platform 52 may be pivotably connected with the lower ends of the second branch chain and the fourth branch chain.

More preferably, the four branch chains 4 are evenly spaced along the circumference of the fixed platform 1 . At this time, the first branch chain and the third branch chain can be relatively arranged at the radial ends of the fixed platform 1, and the second branch chain and the fourth branch chain can be arranged relatively at the radial ends of the fixed platform 1, so that the movement of the robot More balanced, better movement.

The sliding guide rail 54 is arranged on the lower moving platform 52 and extends along the vertical direction, and the upper moving platform 51 is slidably connected with the sliding guide rail 54 . Thus, the relative movement of the upper moving platform 51 and the lower moving platform 52 can be realized to change the distance between the upper moving platform 51 and the lower moving platform 52, and the sliding guide rail 54 can play a guiding role, which can improve the accuracy of movement and fluency.

It can be understood that, in the present invention, the sliding guide rail 54 can also be arranged on the upper moving platform 51 and be slidably connected with the lower moving platform 52 . That is to say, the sliding guide rail 54 can be arranged on one of the upper moving platform 51 and the lower moving platform 52 and extends in the vertical direction, and the other of the upper moving platform 51 and the lower moving platform 52 is slidably connected with the sliding guide rail 54 connected.

Motion conversion mechanism 55 connects upper moving platform 51 and lower moving platform 52, and motion conversion mechanism 55 comprises connecting rod 551, gear 553 and rack 552, wherein, one end of connecting rod 551 (such as the connecting rod 551 shown in Figure 2 upper end) is pivotally connected with the upper moving platform 51, and the rack 552 is slidably arranged on the lower moving platform 52, and the other end of the connecting rod 552 (the lower end of the connecting rod 551 shown in Fig. 2 for example) and the rack 552 Pivotably connected, the gear 553 is rotatably arranged on the lower moving platform 52 , and the gear 553 is engaged with the rack 552 .

The end effector 53 is arranged under the lower moving platform 52 , and the end effector 53 is connected with the gear 553 through the output shaft 56 passing through the lower moving platform 52 .

Thus, when the distance between the upper moving platform 51 and the lower moving platform 52 changes, the connecting rod 551 can pivot and drive the rack 552 connected to it to move linearly, and then the rack 552 meshes with the gear 553 to push The gear 553 rotates, and drives the end effector 53 to rotate through the output shaft 56 . The end effector 53 can be used to perform operations and tasks such as handling and pick-and-place.

According to the parallel sorting robot 100 with a double-moving platform structure according to the embodiment of the present invention, the pivoting of the four branch chains 4 can be controlled by controlling the four driving devices 2, so as to realize the movement of the moving platform part 5 along the X, Y and Z directions. movement, and the relative movement of the upper moving platform 51 and the lower moving platform 52 along the Z-axis, wherein the relative movement of the upper moving platform 51 and the lower moving platform 52 along the Z-axis can be converted by the motion conversion mechanism 55 into the movement of the end effector 53 around the The rotation of the Z-axis enables the end effector 53 to have three degrees of freedom of movement and one degree of freedom of rotation, realizing operations such as grasping with four degrees of freedom. For example, one hundred standard grasping actions can be completed per minute, with a compact structure , flexible movement, simple control, good stiffness and stability, high performance and other characteristics, it has broad scientific research and application prospects.

In some embodiments, a slide rail is provided on the lower moving platform 52, and the extension direction of the slide rail is parallel to the tangential direction of the addendum circle of the gear 553. A slider 5521 is provided on the rack 552, and the slider 5521 is slidably arranged. On the slide rail, and the other end of the connecting rod 551 (such as the lower end of the connecting rod 551 shown in FIG. 2 ) is pivotally connected with the sliding block 5521 . In this way, when the upper moving platform 51 and the lower moving platform 52 produce relative displacements, the connecting rod 551 can push the rack 552 to slide through the slider 5521 under the drive of the upper moving platform 51, so that the upper moving platform 51 and the lower moving platform 52 The relative movement along the vertical direction is transformed into the horizontal movement of the slider 5521 on the lower moving platform 52 , in short, the linear movement along the vertical direction is transformed into the linear movement along the horizontal direction. Then, the rack 552 is engaged with the gear 553 to convert the linear motion of the slider 5521 and the rack 552 into the rotational motion of the gear 553 . A rotational degree of freedom of the end effector 53 is thereby achieved.

As shown in Figures 2 and 3, the lower moving platform 52 is provided with an upwardly protruding guide boss 521, and a guide groove 522 is formed on the guide boss 521, the opening of the guide groove 522 faces upward, and the extension direction of the guide groove 522 Parallel to the tangential direction of the addendum circle of the gear 553, the rack 552 has a slider 5221, at least a part of the slider 5221 extends into the guide groove 522, and the slider 5221 can slide along the extending direction of the guide groove 522, and the connecting rod The other end of 551 (such as the lower end of the connecting rod 551 shown in FIG. 2 ) is pivotably connected with the slider 5521 . When the upper moving platform 51 and the lower moving platform 52 move relative to each other in the vertical direction, the upper moving platform 51 pushes the slider 5521 to slide in the guide groove 522 through the connecting rod 551, and converts the relative movement in the vertical direction into the horizontal movement of the slider 5521 .

Further, as shown in FIG. 3 , the guide groove 522 is in the shape of gradually constricting from bottom to top, and the part of the slider 5521 protruding into the guide groove 522 is adapted to the shape of the guide groove 522 . For example, the cross-section of the guide groove 522 perpendicular to its extension direction is trapezoidal, and the short bottom edge of the trapezoid is located on the opening side of the guide groove 522, so that it can ensure that the part of the slider 5521 extending into the guide groove 522 is always snapped into the guide groove 522 In order to prevent the sliding block 5521 from sliding out of the guide groove 522 when the distance between the upper moving platform 51 and the lower moving platform 52 is too large, the reliability of the connection between the sliding block 5521 and the guiding groove 522 is ensured.

Preferably, along the extending direction of the guide groove 522, one end of the guide groove 522 is closed and the other end is open, so that the slider 5521 can slide into the guide groove 522 through the open end of the guide groove 522, which is convenient for assembly. At the same time, one end of the guide groove 522 is closed to prevent the slider 5521 from slipping off from the end of the guide groove 522 , so as to limit the maximum displacement of the slider 5521 in the horizontal direction.

As shown in FIGS. 2 and 3 , in some embodiments of the present invention, the rack 552 may include two gears arranged rotationally symmetrically about the central axis of the gear 553 , and the connecting rod 551 may include two gears arranged rotationally symmetrically about the central axis of the gear 553 . Two, the connecting rod 551 corresponds to the rack 552 one by one. When the upper moving platform 51 and the lower moving platform 52 move relatively, the upper moving platform 51 can simultaneously drive the two racks 552 to move in the horizontal plane through the two connecting rods 551, and then use the two racks 552 to simultaneously drive the gear 553 to rotate. In this way, the force on the gear 553 can be more balanced to ensure the smooth rotation of the end effector 53 .

Of course, the present invention is not limited thereto, and the number of racks and connecting rods is not limited thereto, and the racks and connecting rods may also include three, four, etc. arranged at intervals around the gear.

Preferably, the connecting rod 551 has an upper moving platform connecting end pivotally connected with the upper moving platform 51 and a rack connecting end pivotally connected with the rack 552, wherein the upper moving platform connecting end extends substantially parallel to the up-down direction, and the tooth The connecting end of the bar extends along a direction substantially parallel to the rack 552 , and the connecting end of the upper moving platform and the connecting end of the rack are connected by an arc-shaped connecting section. Thus, it is convenient for the upper moving platform 51 to drive the connecting rod 551 and for the connecting rod 551 to push the slider 5521, so as to improve the smoothness of motion transmission.

In the present invention, the shape of the sliding guide rail 54 can be formed into various forms. In the embodiment shown in FIG. The guide rail 54 is slidably disposed in the sliding hole. Therefore, not only is the installation firm and the structure is compact, but also the sliding is smooth and the moving performance is good.

The sliding guide rail 54 shown in Fig. 1 is formed as a cylindrical shape extending in the vertical direction, it can be understood that the shape of the sliding guide rail 54 is not limited to a cylindrical shape, and the cross section of the sliding guide rail 54 can also be a polygon such as a triangle or a quadrangle or not. regular shape etc. In addition, in the present invention, the sliding hole is not limited to setting on the upper moving platform 51, but also can be arranged on the lower moving platform 52. At this time, the upper end of the sliding guide rail 54 can be connected with the upper moving platform 51, and the lower end of the sliding guide rail 54 is pierced In the sliding hole of the lower moving platform 52, a better moving effect can also be achieved.

Further, the parallel sorting robot 100 may further include a bushing 57 , the bushing 57 may be disposed in the sliding hole, and the sliding guide rail 54 may be slidably disposed in the bushing 57 . Thereby, the reliability of operation can be improved, and the wear and tear on the upper moving platform 51 or the lower moving platform 52 can be avoided, and the shaft sleeve 57 can be removed for maintenance and replacement after severe wear, and the maintenance cost is low.

In the present invention, there is no special limitation on the number of sliding guide rails 54 and bushings 57, and there may be one or more. For example, the sliding guide rail 54 and the axle sleeve 57 include three respectively, and the three sliding guide rails 54 can be arranged at intervals to form a triangular distribution. They can be connected via connecting plates extending in the horizontal direction.

Thus, the rigidity of the moving platform part 5 can be enhanced to make the overall structure more firm and stable, and the connecting plate can also play a position-limiting role, preventing the relative displacement of the upper moving platform 51 and the lower moving platform 52 from being too large, resulting in the end of the sliding guide rail 54. The part is removed from the sliding hole, and the working reliability is further improved.

In addition, as shown in Figures 2 and 3, the end of the free end of the sliding guide rail 54 (for example, the upper end of the sliding guide rail shown in Figure 2) can also be sleeved with an end cap 541, and the end cap 541 and the sliding guide rail 54 are detachable connect. In this way, the maximum displacement of the upper moving platform 51 and the lower moving platform 52 along the vertical direction can also be restricted by the end cap 541 to avoid slippage.

As shown in Figure 1, the driving device 2 can include a driver 21 and a driving arm 22, the driver 21 is arranged on the fixed platform 1, the driving arm 22 is connected with the driver 21, and can pivot relative to the fixed platform 1 under the drive of the driver 21 . Each driving arm 22 generally extends along the radial direction of the fixed platform 1 , that is to say, the extending direction of each driving arm 22 may pass through the central axis of the fixed platform 1 , or may not pass through but is slightly deflected. The inner end of each driving arm 22 (that is, an end adjacent to the middle part of the fixed platform 1) is connected with the driving device 2, so that the driving arm 22 can be pivoted with respect to the fixed platform 1 under the driving of the driving device 2, and each driving arm The outer end of 22 (that is, the end away from the middle of the fixed platform 1 ) is pivotally connected to the upper end of the corresponding branch chain 4 . Thus, when the driver 21 drives the driving arm 22 to pivot, the branch chain 4 can pivot relative to the fixed platform 1 driven by the driving arm 22 , which is easy to install, has good pivotability and is more flexible in movement.

Optionally, the fixed platform 1 can include a platform main body 11 and four mounting plates 12, and the four mounting plates 12 can be set on the outer periphery of the platform main body 11 at intervals along the circumferential direction of the fixed platform 1, and each mounting plate 12 is away from The direction of the platform main body 11 extends, and the extending direction of the mounting plate 12 may be roughly the radial direction of the platform main body 11 . The driver 21 and the driving arm 22 are respectively provided at both ends of the mounting plate 12 along the circumferential direction of the platform main body 11 . That is to say, along the circumferential direction of the platform main body 11 , the driver 21 and the driving arm 22 corresponding to each mounting plate 12 are respectively located at two ends of the mounting plate 12 . The output shaft of the driver 21 can pass through the mounting plate 12 and be connected to the driving arm 22 to drive the driving arm 22 to pivot relative to the mounting plate 12 . Optionally, the driver 21 may be a driving motor.

As shown in FIG. 1 , the platform main body 11 can be formed into a cube shape, and four mounting plates 12 can be arranged at four corners of the platform main body 11 , and two adjacent mounting plates 12 are arranged vertically. Therefore, it is more convenient to manufacture and assemble, and the stability of the robot is better. In some embodiments of the present invention, the platform body 11 and the mounting plate 12 are integrally formed. Thus, the stability of the robot can be further improved, and the production efficiency can be improved.

The branch chain 4 will be further described below in conjunction with the accompanying drawings.

As shown in FIGS. 1 to 5 , the branch chain 4 may include: two first rods and two second rods, that is, a first rod 42a and a first rod 42b, a second rod 42c and a second rod 42d. The two first rods are arranged up and down and arranged in parallel. The upper first rod 42a is connected to the driving device 2 . When the robot has a driving arm 22 , the upper first rod 42a can be connected to the outer end of the driving arm 22 . The lower first rod body 42b is connected with the moving platform component 5 . The two second rods are arranged in parallel and connected with the two first rods to form a parallelogram frame. The length of the second rods 42c, 42d is greater than the length of the first rods 42a, 42b. Both ends of each first rod body are spherically matched with two second rod bodies respectively.

Thus, the first rod body 42a and the two second rod bodies 42c, 42d can pivot relative to each other. When the driving arm 22 pivots under the drive of the driver 21, the first rod body 42a can move along with the driving arm 22, thereby making the driving arm 22 pivot. The second lever body 42c, 42d can pivot. The branch chain 4 of this structure not only has good structural stability, and the branch chain 4 is not easy to be twisted, but also is convenient to manufacture, with low cost and less material consumption, which can greatly reduce the weight of the robot.

Further, the branch chain 4 may also include a torsional elastic member, the torsional elastic member may be arranged parallel to the first rod, and the torsional elastic member may be arranged adjacent to the first rod, that is to say, the torsional elastic member may be adjacent to the branch chain 4 end settings. The anti-torsion elastic part is in an extended state, and the two ends of the anti-torsion elastic part are pivotably connected with the two second rods. Therefore, the torsion-resistant elastic member has an elastic force effect on the branch chain 4, which can more effectively prevent the branch chain 4 from twisting, and the robot has stronger structural stability and more flexible and reliable activities.

In the present invention, there is no special limitation on the number of torsional elastic members, and the torsional elastic members may include at least one, for example, one, two, three or more torsional elastic members may be provided on each branch chain 4 Components, and at least one end of the branch chain 4 can be provided with torsional elastic components. For example, in the embodiment shown in Fig. 4 and Fig. 5, the branch chain 4 is provided with two anti-torsion elastic parts, which are respectively anti-torsion elastic part 42e and anti-torsion elastic part 42f, and anti-torsion elastic part 42e and anti-torsion elastic part The elastic members 42f are respectively arranged at two ends of the branch chain 4 and adjacent to the corresponding first rods 42a, 42b. Thereby, twisting can be restricted from both ends of the branch chain 4, and the stability of the branch chain 4 is high, and the shape maintenance property is good.

A parallel sorting robot 100 with a double-moving platform structure according to a specific embodiment of the present invention will be described below with reference to FIGS. 1-5 .

Referring to Figures 1 to 5, a parallel sorting robot 100 with a double-moving platform structure includes a fixed platform 1, a moving platform component 5, and a first branch chain, a second branch chain, a third branch chain, and a fourth branch chain, The four branch chains 4 are respectively connected between the fixed platform 1 and the moving platform part 5, and form a spatial closed-loop mechanism with the fixed platform 1 and the moving platform part 5, and the four branch chains 4 are arranged in a circumferentially symmetrical relationship.

The structure of the moving platform part 5 is as shown in Figure 2 and Figure 3, comprising an upper moving platform 51, a lower moving platform 52, an end effector 53, two sliding guide rails 54, a motion conversion mechanism 55, an output shaft 56, an axle sleeve 57 and kinematic pair; wherein, the motion conversion mechanism 55 includes: two connecting rods 551, two racks 552, gears 553, two upper end shaft seats 554 and two lower end shaft seats 555, wherein two connecting rods and two teeth The bars are rotationally symmetric about the central axis of the gear.

The assembly relationship of each part in the moving platform part 5 is as follows: the upper end shaft seat 554 is fastened to the upper moving platform 51, the upper end shaft seat 554 is connected with the connecting rod 551 through a rotating pair, and the connecting rod 551 is connected with the lower end shaft seat 555 through a rotating pair, The lower end shaft seat 555 is fastened on the slider of the rack 552; the shaft sleeve 57 is fastened to the upper moving platform 51, the sliding guide rail 54 is fastened to the lower moving platform 52, and the shaft sleeve 57 is connected to the sliding guide rail 54 through a sliding pair; The bar 552 meshes with the gear 553, the gear 553 is fastened to the output shaft 56, and the output shaft 56 is connected to the lower moving platform 52 through a rotating pair; the output shaft 56 is fastened to the end effector 53.

The first branch chain, the second branch chain, the third branch chain, and the fourth branch chain have the same structure. Taking the first branch chain as an example, the branch chain 4 formed as a parallelogram part is driven by the drive arm 22 connected to the driver 21. Turn down. Wherein, the assembly relation of each component is: the output shaft of driver 21 and the front end (being the inner end shown in Figure 1) of driving arm 22 are fastened, and the end of driving arm 22 (being the outer end shown in Figure 1) ) and one end of the branch chain 4 (that is, the first rod body 42a is connected by a rotary pair.

Wherein, the structure of the branch chain 4 is shown in Figure 4 (see Figure 5 for partial structure enlargement), including a first rod body 42a, a first rod body 42b, a second rod body 42c and a second rod body 42d, an anti-twist elastic member 42e, an anti-twist Elastic part 42f; The assembling relation of each part is: the two ends of the first body of rod 42a cooperate with the upper end of the second body of rod 42c and the upper end of the second body of rod 42d respectively by spherical surface, the lower end of the second body of rod 42c and the second body of rod 42d respectively and the first The two ends of the rod body 42b are matched by a spherical surface, and the two ends of the anti-twist elastic member 42e are respectively matched with the middle and upper ends of the second rod body 42c and the second rod body 42d through a rotating pair, and the middle and lower ends of the second rod body 42c and the second rod body 42d are connected with the anti-twist The two ends of the elastic piece 42f are matched by a rotating pair, and the torsion-proof elastic piece 42e and the torsion-proof elastic piece 42f are in a pre-stretched state during assembly.

In this embodiment, the driving arm 22 can be used as the driving arm of the robot, the first rod body 42a, 42b can be used as the short rod of the forearm of the robot, and the second rod body 42c, 42d can be used as the long rod of the forearm of the robot. Parts 42e, 42f can be used as the forearm crossbar of the robot.

Control the rotation of the driver 21 connected to the first branch chain, the second branch chain, the third branch chain, and the fourth branch chain, and the motion can be transmitted to the moving platform part 5 through the driving arm 22 and the branch chain 4 to realize the moving platform part 5 The overall movement along the X, Y and Z directions, and the relative movement of the upper moving platform 51 and the lower moving platform 52 along the Z direction; the relative movement of the upper moving platform 51 and the lower moving platform 52 along the Z direction is converted into The rotation of the end effector 53 around the Z-axis direction. Therefore, the end effector 53 can realize four-degree-of-freedom pick-and-place motion.

In the above description, X and Y can be understood as two directions in the horizontal plane and perpendicular to each other, and the Z direction or the direction of the Z axis can be understood as a vertical direction.

Other configurations and operations of the four-degree-of-freedom high-speed parallel robot 100 according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail here.

In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial" , "radial", "circumferential" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the referred device or Elements must have certain orientations, be constructed and operate in certain orientations, and therefore should not be construed as limitations on the invention.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

In the present invention, unless otherwise clearly specified and limited, terms such as "installation", "connection", "connection" and "fixation" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection or an indirect connection through an intermediary, it can be the internal communication of two components or the interaction relationship between two components . Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In the description of this specification, descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications, substitutions and modifications can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the invention is defined by the claims and their equivalents.

Claims (8)

1. a kind of sorting machine people in parallel with double acting platform structure, which is characterized in that it is described parallel connection sorting machine people include Fixed platform, four branches, four driving devices and moving platform component, four branches are along the circumferentially-spaced of the fixed platform It opens, four driving devices, which are located on the fixed platform and correspond with the upper end of four branches, to be connected, with driving Four branches pivot, and the moving platform component is located at below the fixed platform, and the moving platform component includes:

Upper moving platform, the lower end of the branch of upper moving platform setting alternate with the two of them of four branches is pivotly It is connected；

Lower moving platform, the lower moving platform are located at below the upper moving platform and alternate with the wherein another two of four branches The lower end of the branch of setting is pivotly connected；

At least one slide rail, the slide rail be located in one of them of the upper moving platform and the lower moving platform and Extend along the vertical direction, the another one of the upper moving platform and the lower moving platform and the slide rail slideably phase Even；

At least one movement conversion mechanism, the movement conversion mechanism connect the upper moving platform and the lower moving platform, and institute Stating movement conversion mechanism includes connecting rod, rack and pinion, and one end of the connecting rod is pivotly connected with the upper moving platform, institute It states rack gear to be slidably disposed on lower moving platform, the other end of the connecting rod is pivotly connected with the rack gear, the gear It is rotatably arranged on the lower moving platform and is engaged with the rack gear,

The rack gear includes in a rotationally symmetrical arrangement two of central axis about the gear, and the connecting rod includes about described In a rotationally symmetrical arrangement two of the central axis of gear, and the connecting rod and the rack gear correspond,

End effector, the end effector is located at below the lower moving platform and the output by passing through the lower moving platform Axis is connected with the gear.

2. the sorting machine people in parallel according to claim 1 with double acting platform structure, which is characterized in that described lower dynamic Platform, which is equipped with, is parallel to the sliding rail that the tangential direction of the gear extends, and the rack gear is equipped with sliding block, and the sliding block can be slided It is located on the sliding rail dynamicly, and the other end of the connecting rod is pivotably connected with the sliding block.

3. the sorting machine people in parallel according to claim 1 with double acting platform structure, which is characterized in that described lower dynamic Platform is equipped with the guide ledges to raise upward, and guide groove is formed in the guide ledges, has sliding block on the rack gear, described At least part of sliding block protrudes into the guide groove and along the guide groove slidably, the other end of the connecting rod and the cunning Block is pivotably connected.

4. the sorting machine people in parallel according to claim 1 with double acting platform structure, which is characterized in that the sliding Guide rail is formed as the column extended along the vertical direction, and the another one of the upper moving platform and the lower moving platform, which are equipped with, to be slided Dynamic hole, the sliding eye is interior to be equipped with axle sleeve, and the slide rail is slideably threaded through in the axle sleeve.

5. the sorting machine people in parallel according to claim 4 with double acting platform structure, which is characterized in that the sliding The free end of guide rail is arranged with end cap, and the end cap is detachably connected with the slide rail.

6. the sorting machine people in parallel according to claim 1 with double acting platform structure, which is characterized in that the branch Include:

Two first bodies of rod, two first bodies of rod arrange and are arranged in parallel up and down, first body of rod in top with The driving device is connected, and first body of rod being below is connected with the moving platform component；

Two second bodies of rod, two second bodies of rod are arranged in parallel and are connected to form parallel four side with two first bodies of rod Shape frame, the length of second body of rod are greater than the length of first body of rod, the both ends of each first body of rod respectively with two described the Bipole body mating spherical surfaces；

Torsion elasticity part, the torsion elasticity part and first body of rod are arranged in parallel and neighbouring first body of rod is arranged, institute State that torsion elasticity part is in elongation state and both ends are pivotly connected with two second bodies of rod, the torsion elasticity part packet At least one end for including at least one and the branch is equipped with the torsion elasticity part.

7. the sorting machine people in parallel according to claim 1 with double acting platform structure, which is characterized in that the driving Device includes:

Driver, the driver are located on the fixed platform；

Actuating arm, the actuating arm are radially extended substantially along the fixed platform, the inner end of the actuating arm and the driver It is connected, with pivotable relative to the fixed platform under the drive of the driver, the outer end of the actuating arm and corresponding institute The upper end for stating branch is pivotly connected.

8. the sorting machine people in parallel according to claim 1 with double acting platform structure, which is characterized in that described to allocate Platform includes:

Main platform body；

Four mounting plates, the circumferentially-spaced outer periphery that is provided with the main platform body of four mounting plates along the fixed platform On, each mounting plate extends to the direction far from the main platform body, and the driver and the actuating arm are respectively provided at The circumferential both ends along the main platform body of the mounting plate, the output shaft of the driver pass through the mounting plate with it is described Actuating arm is connected.